91
Total objective tests
24
Objectives passed
0
Objectives failed
67
Objectives skipped
17.0s
Avg test time
100%
Objective pass rate
▾
(no parent)5 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 23.4s | 6 errors · 321 warnings · 1790 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/2026-10-23-11-54-36-333527-1a7337fb6681-8124 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.76sINFOstatic_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' + 4.77sINFOstatic_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' + 4.77sINFOstatic_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' + 4.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.92sINFOnav2_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 + 4.97sINFOcontroller_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. + 4.98sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 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> + 5.00sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 5.01sINFOcontroller_managerupdate rate is 600 Hz + 5.01sINFOcontroller_managerOverruns handling is : enabled + 5.01sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 5.01sINFOstate_estimatorReceived a set_pose request (stamp: 1792756483081239629, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 5.02sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 5.02sINFOcontroller_serverCreating controller server + 5.06sINFOlocal_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. + 5.06sINFOmap_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. + 5.06sINFOmap_serverCreating + 5.06sINFOros2_control_node-13process started with pid [8289] ×2 + 5.06sINFOmove_group-25process started with pid [8353] ×2 + 5.06sINFOparameter_manager_node-26process started with pid [8354] ×2 + 5.06sINFOwaypoint_manager_node-27process started with pid [8355] ×2 + 5.06sINFOmove_joint_resampler_node-28process started with pid [8356] ×2 + 5.06sINFOmove_end_effector_resampler_node-29process started with pid [8357] ×2 + 5.06sINFOobjective_server_node_main-30process started with pid [8358] ×2 + 5.06sINFOcomponent_container_mt-31process started with pid [8378] ×2 + 5.06sINFOcomponent_container_mt-32process started with pid [8379] ×2 + 5.06sINFOexecute_objective_bridge-33process started with pid [8380] ×2 + 5.06sINFOui_teleop_bridge-34process started with pid [8382] ×2 + 5.06sINFOweb_bridge-35process started with pid [8385] ×2 + 5.06sINFOtf_visualization_relay-36process started with pid [8388] ×2 + 5.06sINFOjoint_state_visualization_relay-37process started with pid [8389] ×2 + 5.06sINFOtf2_web_republisher_node-38process started with pid [8390] ×2 + 5.06sINFOvideo_server-39process started with pid [8391] ×2 + 5.06sINFOweb_bridge_auth_proxy-40process started with pid [8392] ×2 + 5.06sINFOweb_video_auth_proxy-41process started with pid [8393] ×2 + 5.07sINFOcomponent_container_isolated-1process started with pid [8174] ×2 + 5.07sINFOcomponent_container_isolated-2process started with pid [8175] ×2 + 5.07sINFOstatic_transform_publisher-3process started with pid [8176] ×2 + 5.07sINFOodom_world_drift-4process started with pid [8177] ×2 + 5.07sINFOlocal_costmap.local_costmapCreating Costmap + 5.09sINFOlidar_flattener.py-5process started with pid [8178] ×2 + 5.09sINFOstatic_transform_publisher-6process started with pid [8179] ×2 + 5.09sINFOstatic_transform_publisher-7process started with pid [8180] ×2 + 5.09sINFOscan_to_scan_filter_chain-8process started with pid [8181] ×2 + 5.09sINFOscan_to_scan_filter_chain-9process started with pid [8182] ×2 + 5.09sINFOrelay-10process started with pid [8286] ×2 + 5.09sINFOrelay-11process started with pid [8287] ×2 + 5.09sINFOfixed_lag_smoother_node-12process started with pid [8288] ×2 + 5.09sINFOros2-14process started with pid [8290] ×2 + 5.09sINFOros2-15process started with pid [8291] ×2 + 5.09sINFOros2-16process started with pid [8292] ×2 + 5.09sINFOros2-17process started with pid [8295] ×2 + 5.09sINFOros2-18process started with pid [8296] ×2 + 5.09sINFOros2-19process started with pid [8297] ×2 + 5.09sINFOros2-20process started with pid [8300] ×2 + 5.09sINFOros2-21process started with pid [8301] ×2 + 5.09sINFOros2-22process started with pid [8308] ×2 + 5.09sINFOros2-23process started with pid [8312] ×2 + 5.09sINFOros2-24process started with pid [8313] ×2 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.11sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 5.11sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 5.11sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 5.11sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 5.11sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040843 ms (missed cycles : 5). + 5.12sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.12sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.12sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.12sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.12sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.12sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.12sWARNros2_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 + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040843 ms (missed cycles : 5).[0m ×2 + 5.13sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.17sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.17sINFOsmoother_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. + 5.21sINFOsmoother_serverCreating smoother server + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.25sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.26sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.26sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 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. + 5.31sINFOplanner_serverCreating + 5.31sINFOlifecycle_manager_localizationCreating + 5.34sINFOglobal_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. + 5.35sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.35sINFOglobal_costmap.global_costmapCreating Costmap + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.36sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.36sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.36sINFOmap_serverConfiguring + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.42sINFObehavior_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. + 5.44sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.44sINFOvideo_server2026/10/23 11:54:43 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.44sINFOvideo_server2026/10/23 11:54:43 INF configuration loaded from /tmp/moveit-webrtc-15hpiecr/mediamtx.yml ×2 + 5.44sINFOvideo_server2026/10/23 11:54:43 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.44sINFOvideo_server2026/10/23 11:54:43 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.45sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.45sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.48sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.48sINFOamclConfiguring + 5.49sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.49sINFOmap_serverActivating + 5.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.50sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.51sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.54sINFObt_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. + 5.56sINFObt_navigatorCreating + 5.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.61sINFOwaypoint_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. + 5.61sINFOwaypoint_followerCreating + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.63sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.63sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.63sINFOamclActivating + 5.63sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.63sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.64sINFOamclSubscribed to map_topic: /map + 5.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.64sINFOamclSubscribed to scan_topic: /scan_interleaved + 5.65sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.65sINFOamclCreated reinitialize_global_localization service + 5.65sINFOamclCreated request_nomotion_update service + 5.65sINFOamclA new map was received + 5.65sINFOamclInitializing particle filter instance + 5.65sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.65sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.65sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.68sINFOvelocity_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. + 5.69sINFOrobot_state_publisherRobot initialized + 5.69sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.69sINFOcontroller_managerReceived robot description from topic. + 5.69sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.69sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.69sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.73sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.76sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.77sINFOlifecycle_manager_navigationCreating + 5.77sWARNlaser_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. + 5.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.79sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.79sWARNlaser_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. + 5.79sWARNscan_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 + 5.82sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.85sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.85sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.85sINFOcontroller_serverConfiguring controller interface + 5.85sINFOcontroller_servergetting progress checker plugins.. + 5.85sINFOcontroller_servergetting goal checker plugins.. + 5.85sINFOcontroller_serverController frequency set to 20.0000Hz + 5.85sINFOlocal_costmap.local_costmapConfiguring + 5.87sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.88sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.92sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.92sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.92sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.96sINFOweb_bridge_auth_proxy2026-10-23 11:54:44,025 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.96sINFOweb_bridge_auth_proxy2026-10-23 11:54:44,028 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.98sINFOweb_video_auth_proxy2026-10-23 11:54:44,050 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.99sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.99sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.99sINFOcontroller_serverController Server has progress_checker progress checkers available. + 6.00sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 6.01sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 6.03sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 6.10sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.12sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544482 ms (missed cycles : 3). + 6.13sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544482 ms (missed cycles : 3).[0m ×2 + 6.16sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.16sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.17sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.17sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.19sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.526718 seconds + 6.19sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.19sINFOmove_groupLoaded robot model in 0.526718 seconds[0m ×2 + 6.19sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.19sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.19sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.20sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.21sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.21sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.22sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.25sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.25sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.26sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.26sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.27sINFOcontroller_serverOptimizer reset ×2 + 6.30sINFOcontroller_serverController Server has FollowPath controllers available. + 6.33sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.33sINFOsmoother_serverConfiguring smoother server + 6.34sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.35sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.38sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.38sINFOplanner_serverConfiguring + 6.38sINFOglobal_costmap.global_costmapConfiguring + 6.40sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.41sINFOamclParticle filter initialization completed + 6.41sINFOamclInitializing particles from estimated pose and covariance + 6.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.42sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.42sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.42sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.43sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.43sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.43sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.43sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.46sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.46sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.47sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.51sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.51sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.51sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.51sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.52sINFOplanner_serverPlanner Server has GridBased planners available. + 6.54sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.54sINFObehavior_serverConfiguring + 6.55sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.55sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.55sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.56sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.56sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.56sINFObehavior_serverConfiguring spin + 6.58sINFObehavior_serverConfiguring backup + 6.59sINFObehavior_serverConfiguring drive_on_heading + 6.60sINFObehavior_serverConfiguring assisted_teleop + 6.61sINFObehavior_serverConfiguring wait + 6.62sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.62sINFObt_navigatorConfiguring + 6.63sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.63sWARNbt_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 + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.77sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.85sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.85sINFOwaypoint_followerConfiguring + 6.88sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.88sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.88sINFOvelocity_smootherConfiguring velocity smoother + 6.89sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.89sINFOcontroller_serverActivating + 6.89sINFOlocal_costmap.local_costmapActivating + 6.89sINFOlocal_costmap.local_costmapChecking transform + 6.89sINFOlocal_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 ×7 + 6.96sINFOwaypoint_manager_nodeLoaded robot model in 0.237096 seconds[0m ×2 + 6.96sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.96sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.11sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 7.11sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 7.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 7.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 7.14sINFOros2_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 + 7.14sINFOros2_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 + 7.18sINFOmove_group[2026-10-23 11:54:45.248] [moveit_pro_license] [info] ×2 + 7.18sINFOmove_group************************************************* ×4 + 7.18sINFOmove_group* MoveIt Pro License ×2 + 7.18sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049287 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049287 ms (missed cycles : 2).[0m ×2 + 7.33sWARNwaypoint_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. + 7.33sWARNwaypoint_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 + 7.33sWARNwaypoint_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. + 7.33sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.34sWARNwaypoint_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 + 7.35sWARNwaypoint_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. + 7.35sWARNwaypoint_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 + 7.35sWARNwaypoint_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. + 7.35sWARNwaypoint_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. + 7.35sWARNwaypoint_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. + 7.35sWARNwaypoint_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. + 7.35sWARNwaypoint_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. + 7.36sWARNwaypoint_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. + 7.36sWARNwaypoint_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. + 7.36sWARNwaypoint_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 + 7.36sWARNwaypoint_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. + 7.36sWARNwaypoint_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. + 7.36sWARNwaypoint_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 + 7.36sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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. + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.37sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.38sWARNwaypoint_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. + 7.38sWARNwaypoint_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 + 7.39sWARNwaypoint_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. + 7.39sWARNwaypoint_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 + 7.39sWARNwaypoint_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. + 7.39sWARNwaypoint_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 + 7.40sWARNwaypoint_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. + 7.40sWARNwaypoint_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. + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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 + 7.40sWARNwaypoint_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. + 7.40sWARNwaypoint_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. + 7.40sWARNwaypoint_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 + 7.41sWARNwaypoint_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 + 7.41sWARNwaypoint_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. + 7.41sWARNwaypoint_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. + 7.41sWARNwaypoint_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 + 7.41sWARNwaypoint_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 + 7.63sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.63sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.63sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.64sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.64sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.64sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.64sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.64sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.64sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.64sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.64sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.64sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.65sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.65sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.65sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.65sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.65sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.65sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.76sINFOwaypoint_manager_node[2026-10-23 11:54:45.826] [moveit_pro_license] [info] ×2 + 7.76sINFOwaypoint_manager_node************************************************* ×4 + 7.76sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.76sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.06sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 8.06sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 8.06sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 8.06sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 8.06sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 8.06sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 8.06sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 8.06sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 8.06sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 8.06sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 8.06sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 8.06sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 8.06sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 8.06sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 8.06sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 8.06sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 8.06sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 8.06sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 8.06sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 8.06sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.06sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 8.06sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 8.06sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 8.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 8.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 8.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 8.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 8.06sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 8.06sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 8.09sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 8.10sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 8.11sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 8.13sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 8.13sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 8.20sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.20sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.20sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.20sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.27sINFOobjective_server_node[2026-10-23 11:54:46.336] [moveit_pro_license] [info] ×2 + 8.27sINFOobjective_server_node************************************************* ×4 + 8.27sINFOobjective_server_node* MoveIt Pro License ×2 + 8.27sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973199 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973199 ms (missed cycles : 2).[0m ×2 + 8.35sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 8.35sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 8.38sINFOobjective_server_nodeLoaded robot model in 0.0386989 seconds[0m ×2 + 8.38sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.38sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.40sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 8.40sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 8.43sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 8.43sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 8.43sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 8.43sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 8.45sINFOros2_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 + 8.45sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 8.45sWARNros2_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 + 8.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.45sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.52sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.56sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.56sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.56sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.56sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.56sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.56sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.56sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.57sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.57sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.57sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.57sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.57sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.57sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.57sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.57sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.57sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.66sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.77sWARNobjective_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. + 8.77sWARNobjective_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. + 8.77sWARNobjective_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 + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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 + 8.78sWARNobjective_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. + 8.78sWARNobjective_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. + 8.78sWARNobjective_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 + 8.78sWARNobjective_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 + 8.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.79sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.82sINFOstreaming_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) + 8.82sINFOcomponent_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 + 8.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.85sWARNcomponent_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 + 8.88sINFOobjective_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 + 8.88sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.91sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.91sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.07sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.07sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.10sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.10sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 9.31sINFOcomponent_container_mtLoaded robot model in 0.45738 seconds[0m ×2 + 9.31sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.31sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.42sINFOmove_groupMoveGroup debug mode is ON + 9.43sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.43sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904180 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904180 ms (missed cycles : 2).[0m ×2 + 9.47sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.47sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.47sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.47sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.52sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.58sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 9.58sINFOmove_group ×8 + 9.58sINFOmove_group******************************************************** ×4 + 9.58sINFOmove_group* MoveGroup using: ×2 + 9.58sINFOmove_group* - apply_planning_scene_service ×2 + 9.58sINFOmove_group* - clear_octomap_service ×2 + 9.58sINFOmove_group* - get_group_urdf ×2 + 9.58sINFOmove_group* - load_geometry_from_file ×2 + 9.58sINFOmove_group* - get_planning_scene_service ×2 + 9.58sINFOmove_group* - kinematics_service ×2 + 9.58sINFOmove_group* - save_geometry_to_file ×2 + 9.58sINFOmove_group* - GetPlanningGroups ×2 + 9.58sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.58sINFOmove_group[0m ×2 + 9.58sINFOmove_group[92mYou can start planning now![0m ×2 + 9.72sWARNplanning_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. + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.72sWARNcomponent_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 + 9.72sWARNplanning_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. + 9.73sWARNplanning_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. + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNcomponent_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 + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.73sWARNcomponent_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 + 9.73sWARNplanning_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. + 9.73sWARNplanning_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. + 9.73sWARNcomponent_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 + 9.74sWARNcomponent_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 + 9.74sWARNplanning_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. + 9.74sWARNplanning_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. + 9.74sWARNcomponent_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 + 9.74sWARNcomponent_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 + 9.75sINFOros2_control_node[2026-10-23 11:54:47.813] [info] Controller state will be published at 20 Hz. ×2 + 9.75sINFOros2_control_node[2026-10-23 11:54:47.814] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.92sINFOcomponent_container_mt[2026-10-23 11:54:47.991] [moveit_pro_license] [info] ×2 + 9.92sINFOcomponent_container_mt************************************************* ×4 + 9.93sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.93sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.00sWARNros2_control_nodeCamera render tick took 0.73 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.01sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.01sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.01sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 10.01sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 10.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 10.07sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 10.07sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 10.07sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 10.08sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 10.08sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 10.10sINFOros2-24process has finished cleanly [pid 8313] ×2 + 10.14sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 10.14sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 10.14sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 10.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 10.15sINFOplatform_velocity_controllerconfigure successful + 10.15sINFOros2_control_nodeconfigure successful[0m ×6 + 10.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 10.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 10.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 10.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 10.16sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 10.16sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.31sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.31sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.39sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. + 10.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.46sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 10.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 10.48sINFOros2-17process has finished cleanly [pid 8295] ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186056 ms (missed cycles : 4). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186056 ms (missed cycles : 4).[0m ×2 + 10.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.86sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.86sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.86sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.86sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.88sINFOros2-16process has finished cleanly [pid 8292] ×2 + 10.89sINFOlocal_costmap.local_costmapstart + 10.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 10.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 10.99sWARNcontroller_serverParameter controller_server.verbose not found + 10.99sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.00sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.00sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.00sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.00sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.01sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1792756487.339 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.10sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.10sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.10sINFOsmoother_serverActivating + 11.10sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.11sINFOamclParticle filter update iteration stats: 1851 particles 811 points - 25.230ms + 11.20sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.20sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.21sINFOplanner_serverActivating + 11.21sINFOglobal_costmap.global_costmapActivating + 11.21sINFOglobal_costmap.global_costmapChecking transform + 11.21sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1792756489.225197, but only time 1792756489.799742 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.40sINFOros2_control_node[2026-10-23 11:54:49.462] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.40sINFOros2_control_node[2026-10-23 11:54:49.464] [info] Controller state will be published at 10 Hz. ×2 + 11.40sINFOros2_control_node[2026-10-23 11:54:49.465] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181499 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181499 ms (missed cycles : 2).[0m ×2 + 11.71sINFOglobal_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 1792756489.731818 but the earliest data is at time 1792756489.799742, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.72sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 11.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.72sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 11.75sINFOros2-22process has finished cleanly [pid 8308] ×2 + 11.78sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.78sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.78sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.78sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.17sINFOros2_control_node[2026-10-23 11:54:50.241] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.18sINFOros2_control_node[2026-10-23 11:54:50.242] [info] Controller state will be published at 10 Hz. ×2 + 12.18sINFOros2_control_node[2026-10-23 11:54:50.244] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.21sINFOglobal_costmap.global_costmapstart + 12.49sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 12.49sINFOcontroller_managerLoading controller 'vacuum_gripper' + 12.49sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 12.49sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 12.49sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 12.49sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795536 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795536 ms (missed cycles : 2).[0m ×2 + 12.52sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 12.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 12.54sINFOros2-21process has finished cleanly [pid 8301] ×2 + 12.55sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 12.55sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 12.55sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 12.55sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 12.55sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 12.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 12.56sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 12.56sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 12.57sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 12.57sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 12.99sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.99sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.99sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.99sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.99sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 12.99sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 13.03sINFOros2-18process has finished cleanly [pid 8296] ×2 + 13.06sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.06sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.07sINFOforce_torque_sensor_broadcasterconfigure successful + 13.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.08sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.26sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.26sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.36sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.36sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.36sINFObehavior_serverActivating + 13.36sINFObehavior_serverActivating spin + 13.36sINFObehavior_serverActivating backup + 13.36sINFObehavior_serverActivating drive_on_heading + 13.36sINFObehavior_serverActivating assisted_teleop + 13.36sINFObehavior_serverActivating wait + 13.36sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.39sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.39sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.39sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.39sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.40sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 13.40sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 13.40sINFOros2-14process has finished cleanly [pid 8290] ×2 + 13.45sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 13.45sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 13.46sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.46sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.46sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.47sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 13.47sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.47sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.47sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.47sINFObt_navigatorActivating + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803067 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803067 ms (missed cycles : 2).[0m ×2 + 13.55sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.66sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.66sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.66sINFOwaypoint_followerActivating + 13.66sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.76sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.76sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.76sINFOvelocity_smootherActivating + 13.76sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 13.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 13.81sINFOros2-15process has finished cleanly [pid 8291] ×2 + 13.83sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 13.85sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 13.85sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 13.85sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.85sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.87sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.87sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.87sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.26sINFOros2_control_node[2026-10-23 11:54:52.323] [info] Controller state will be published at 20 Hz. ×2 + 14.26sINFOros2_control_node[2026-10-23 11:54:52.324] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556709 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556709 ms (missed cycles : 2).[0m ×2 + 14.59sINFOros2-23process has finished cleanly [pid 8312] ×2 + 14.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.62sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 14.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 14.62sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 14.62sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 14.69sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 14.69sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 14.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 14.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 14.70sINFOplatform_velocity_controller_nav2configure successful + 15.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 15.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 15.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 15.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 15.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh + 15.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_n3xc3w54 --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_grys0qqc --params-file /tmp/launch_params_pn6ou1kh [0m ×2 + 15.07sINFOros2-19process has finished cleanly [pid 8297] ×2 + 15.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 15.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 15.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 15.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 15.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 15.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 15.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 15.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 15.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 15.15sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 15.15sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 15.15sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 15.15sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 15.16sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 15.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 15.44sINFOros2-20process has finished cleanly [pid 8300] ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756512 ms (missed cycles : 5). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.756512 ms (missed cycles : 5).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290380 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290380 ms (missed cycles : 2).[0m ×2 + 16.92sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.08sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 17.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 17.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 17.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 17.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 17.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 17.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178326 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178326 ms (missed cycles : 2).[0m ×2 + 18.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569341 ms (missed cycles : 4). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569341 ms (missed cycles : 4).[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141358 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141358 ms (missed cycles : 2).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3).[0m ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2).[0m ×2 + 22.74sINFOobjective_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=\"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: ""
+ 22.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.74sINFOobjective_server_nodeobjective_name: "" ×12 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node ×56 + 22.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.74sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.74sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.74sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.74sINFOobjective_server_node</Control> ×24 + 22.74sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.74sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.74sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.74sINFOobjective_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 + 22.74sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.74sINFOobjective_server_nodecaller: ×14 + 22.74sINFOobjective_server_nodetype: 0 ×14 + 22.74sINFOobjective_server_nodename: "" ×14 + 22.74sINFOobjective_server_nodeinstance_id: "" ×14 + 22.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 22.94sINFOobjective_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 + 22.94sINFOobjective_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 + 22.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 23.62sINFOobjective_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: ""
+ 23.62sINFOobjective_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 + 23.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 seconds ×3 + 23.76sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.88sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 24.43sINFOobjective_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=\"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: ""
+ 24.43sINFOobjective_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=\"AlwaysFailure\" /></Control></Control> ×2 + 24.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 24.63sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 25.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 25.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 25.31sINFOmove_groupClearing octomap...[0m ×2 + 25.31sINFOmove_groupOctomap cleared.[0m ×2 + 25.32sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.32sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 | ||||
| ✓ passed | — | placed | 0.9s | 6 errors · 21 warnings · 641 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141358 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141358 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3).[0m ×2 + 1.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_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: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 2.98sINFOobjective_server_nodeobjective_name: "" ×12 + 2.98sINFOobjective_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 + 2.98sINFOobjective_server_node ×60 + 2.98sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.98sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.98sINFOobjective_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 + 2.98sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.98sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.98sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.98sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.98sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.98sINFOobjective_server_node</Control> ×24 + 2.98sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.98sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.98sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.98sINFOobjective_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=\"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 + 2.98sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×18 + 2.98sINFOobjective_server_nodecaller: ×18 + 2.98sINFOobjective_server_nodetype: 0 ×18 + 2.98sINFOobjective_server_nodename: "" ×18 + 2.98sINFOobjective_server_nodeinstance_id: "" ×18 + 3.02sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOobjective_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 + 3.22sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_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 + 3.91sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 seconds ×3 + 4.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_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: ""
+ 4.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><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 + 4.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 4.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.50sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 | ||||
| ✓ passed | — | release_fails | 0.8s | 6 errors · 24 warnings · 741 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.88sINFOobjective_server_nodeobjective_name: "" ×12 + 1.88sINFOobjective_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 + 1.88sINFOobjective_server_node ×64 + 1.88sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.88sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.88sINFOobjective_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 + 1.88sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.88sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.88sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.88sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.88sINFOobjective_server_node</Control> ×24 + 1.88sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.88sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.88sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.88sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.88sINFOobjective_server_nodecaller: ×22 + 1.88sINFOobjective_server_nodetype: 0 ×22 + 1.88sINFOobjective_server_nodename: "" ×22 + 1.88sINFOobjective_server_nodeinstance_id: "" ×22 + 1.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_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=\"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 + 2.08sINFOobjective_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 + 2.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 2.76sINFOobjective_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: ""
+ 2.76sINFOobjective_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 + 2.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 seconds ×3 + 2.90sINFOobjective_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 + 2.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_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: ""
+ 3.58sINFOobjective_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 + 3.62sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.40sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 7.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 7.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ 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 4.012636 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3).[0m ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2).[0m ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
+ 1.88sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 1.88sINFOobjective_server_nodeobjective_name: "" ×12 + 1.88sINFOobjective_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 + 1.88sINFOobjective_server_node ×62 + 1.88sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.88sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.88sINFOobjective_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 + 1.88sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.88sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.88sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.88sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.88sINFOobjective_server_node</Control> ×24 + 1.88sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.88sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.88sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.88sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.88sINFOobjective_server_nodeparameter_overrides: [] ×20 + 1.88sINFOobjective_server_nodecaller: ×20 + 1.88sINFOobjective_server_nodetype: 0 ×20 + 1.88sINFOobjective_server_nodename: "" ×20 + 1.88sINFOobjective_server_nodeinstance_id: "" ×20 + 1.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_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=\"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 + 2.08sINFOobjective_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 + 2.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 2.76sINFOobjective_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: ""
+ 2.76sINFOobjective_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 + 2.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 seconds ×3 + 2.90sINFOobjective_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 + 2.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_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: ""
+ 3.58sINFOobjective_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 + 3.62sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 3.77sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.40sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 | ||||
| ✓ passed | — | test_fuse_inputs_reach_a_reliable_subscriber | 0.5s | 6 errors · 21 warnings · 560 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569341 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569341 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141358 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141358 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012636 ms (missed cycles : 3).[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_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: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.99sINFOobjective_server_nodeobjective_name: "" ×12 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_node ×58 + 3.99sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.99sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.99sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.99sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.99sINFOobjective_server_node</Control> ×24 + 3.99sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.99sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.99sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.99sINFOobjective_server_nodecaller: ×16 + 3.99sINFOobjective_server_nodetype: 0 ×16 + 3.99sINFOobjective_server_nodename: "" ×16 + 3.99sINFOobjective_server_nodeinstance_id: "" ×16 + 4.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 4.19sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 4.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 4.87sINFOobjective_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: ""
+ 4.87sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 seconds ×3 + 5.01sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 5.07sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.56sINFOmove_groupClearing octomap...[0m ×2 + 6.56sINFOmove_groupOctomap cleared.[0m ×2 + 6.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 7.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.11sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOvacuum_gripperReceived & accepted new action goal + 7.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives15 pass27 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.5s | 3 errors · 243 warnings · 288 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.856ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334550 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334550 ms (missed cycles : 3).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.269ms + 1.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.221ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133787 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133787 ms (missed cycles : 2).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.366ms ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.870ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940830 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940830 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.202ms + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.25sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.30sERRORobjective_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: 1792756718.55987668 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.32sINFOstate_estimatorReceived a set_pose request (stamp: 1792756718577482930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.60sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.60sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873239 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873239 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.88sINFOamclParticle filter update iteration stats: 4931 particles 811 points - 9.042ms + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.88sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 3.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792756719.16207862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.571ms + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942391 ms (missed cycles : 5). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942391 ms (missed cycles : 5).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879030 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879030 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.57sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.57sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.57sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673128 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673128 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036049 ms (missed cycles : 5). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036049 ms (missed cycles : 5).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.008ms + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484658 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484658 ms (missed cycles : 4).[0m ×2 + 9.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.179ms + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381639 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381639 ms (missed cycles : 3).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.426ms + 10.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.375ms + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572679 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572679 ms (missed cycles : 3).[0m ×2 + 11.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.446ms + 12.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.238ms + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958609 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958609 ms (missed cycles : 3).[0m ×2 + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.729ms + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005601 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005601 ms (missed cycles : 2).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.841ms + 13.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.661ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099703 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099703 ms (missed cycles : 2).[0m ×2 + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.421ms + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.512ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141799 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141799 ms (missed cycles : 2).[0m ×2 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.389ms + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.731ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706760 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706760 ms (missed cycles : 3).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.503ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808588 ms (missed cycles : 3). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808588 ms (missed cycles : 3).[0m ×2 + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.695ms + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.628ms + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285645 ms (missed cycles : 2). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285645 ms (missed cycles : 2).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.153ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171003 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171003 ms (missed cycles : 2).[0m ×2 + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.137ms + 20.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207005 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207005 ms (missed cycles : 2).[0m ×2 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.330ms + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.101ms + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395907 ms (missed cycles : 5). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395907 ms (missed cycles : 5).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.581ms + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827352 ms (missed cycles : 3). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827352 ms (missed cycles : 3).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.252ms + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.292ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677766 ms (missed cycles : 5). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677766 ms (missed cycles : 5).[0m ×2 + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.566ms + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025038 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025038 ms (missed cycles : 2).[0m ×2 + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.291ms + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.421ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863336 ms (missed cycles : 3). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863336 ms (missed cycles : 3).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.761ms + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.448ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625926 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625926 ms (missed cycles : 2).[0m ×2 + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.933ms + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707867 ms (missed cycles : 2). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707867 ms (missed cycles : 2).[0m ×2 + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.852ms ×2 + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.259ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039845 ms (missed cycles : 2). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039845 ms (missed cycles : 2).[0m ×2 + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.681ms + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405942 ms (missed cycles : 3). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405942 ms (missed cycles : 3).[0m ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.734ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.851ms + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129193 ms (missed cycles : 4). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129193 ms (missed cycles : 4).[0m ×2 + 31.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.570ms + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.473ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944353 ms (missed cycles : 2). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944353 ms (missed cycles : 2).[0m ×2 + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.205ms + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683480 ms (missed cycles : 2). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683480 ms (missed cycles : 2).[0m ×2 + 34.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.338ms + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350422 ms (missed cycles : 3). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350422 ms (missed cycles : 3).[0m ×2 + 34.95sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.95sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743956 ms (missed cycles : 3). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743956 ms (missed cycles : 3).[0m ×2 + 35.93sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.81sINFOobjective_server_nodePlanning for 32 path waypoints. ×6 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661840 ms (missed cycles : 5). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661840 ms (missed cycles : 5).[0m ×2 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089909 ms (missed cycles : 5). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.089909 ms (missed cycles : 5).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702085 ms (missed cycles : 4). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702085 ms (missed cycles : 4).[0m ×2 + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.487ms + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150815 ms (missed cycles : 5). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150815 ms (missed cycles : 5).[0m ×2 + 40.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.602ms + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976533 ms (missed cycles : 3). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976533 ms (missed cycles : 3).[0m ×2 + 41.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.598ms + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.877ms + 42.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006955 ms (missed cycles : 3). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006955 ms (missed cycles : 3).[0m ×2 + 42.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.131ms + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323169 ms (missed cycles : 2). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323169 ms (missed cycles : 2).[0m ×2 + 44.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670868 ms (missed cycles : 3). + 44.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670868 ms (missed cycles : 3).[0m ×2 + 45.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.120ms + 45.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571190 ms (missed cycles : 4). + 45.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571190 ms (missed cycles : 4).[0m ×2 + 45.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.041ms + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081103 ms (missed cycles : 3). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081103 ms (missed cycles : 3).[0m ×2 + 46.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.128ms + 47.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.663ms + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383777 ms (missed cycles : 4). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383777 ms (missed cycles : 4).[0m ×2 + 47.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.489ms + 48.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.298ms + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772783 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772783 ms (missed cycles : 3).[0m ×2 + 49.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.575ms + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023092 ms (missed cycles : 5). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023092 ms (missed cycles : 5).[0m ×2 + 49.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.989ms + 50.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.045ms + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863657 ms (missed cycles : 5). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863657 ms (missed cycles : 5).[0m ×2 + 51.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.561ms + 51.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247874 ms (missed cycles : 4). + 51.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247874 ms (missed cycles : 4).[0m ×2 + 52.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.153ms + 52.32sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 52.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063500 ms (missed cycles : 3). + 52.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063500 ms (missed cycles : 3).[0m ×2 + 53.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984039 ms (missed cycles : 2). + 53.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984039 ms (missed cycles : 2).[0m ×2 + 54.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244599 ms (missed cycles : 2). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244599 ms (missed cycles : 2).[0m ×2 + 55.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649693 ms (missed cycles : 4). + 55.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649693 ms (missed cycles : 4).[0m ×2 + 56.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.780ms + 56.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249454 ms (missed cycles : 2). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249454 ms (missed cycles : 2).[0m ×2 + 56.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.703ms + 57.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632364 ms (missed cycles : 4). + 57.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632364 ms (missed cycles : 4).[0m ×2 + 57.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.187ms + 58.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.332ms + 58.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186654 ms (missed cycles : 2). + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186654 ms (missed cycles : 2).[0m ×2 + 59.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.558ms + 59.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794593 ms (missed cycles : 3). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794593 ms (missed cycles : 3).[0m ×2 + 59.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 60.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.556ms + 60.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.978ms + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902921 ms (missed cycles : 2). + 60.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902921 ms (missed cycles : 2).[0m ×2 + 60.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.511ms + 61.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.491ms + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720788 ms (missed cycles : 3). + 61.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720788 ms (missed cycles : 3).[0m ×2 + 62.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.424ms + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659602 ms (missed cycles : 4). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659602 ms (missed cycles : 4).[0m ×2 + 63.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.094ms + 63.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771308 ms (missed cycles : 4). + 63.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771308 ms (missed cycles : 4).[0m ×2 + 65.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331828 ms (missed cycles : 4). + 65.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331828 ms (missed cycles : 4).[0m ×2 + 65.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 66.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648950 ms (missed cycles : 2). + 66.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648950 ms (missed cycles : 2).[0m ×2 + 67.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818634 ms (missed cycles : 3). + 67.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818634 ms (missed cycles : 3).[0m ×2 + 68.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290079 ms (missed cycles : 2). + 68.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290079 ms (missed cycles : 2).[0m ×2 + 68.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.828ms + 68.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.515ms + 69.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788256 ms (missed cycles : 3). + 69.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788256 ms (missed cycles : 3).[0m ×2 + 69.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.474ms + 70.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.083ms + 70.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361770 ms (missed cycles : 2). + 70.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361770 ms (missed cycles : 2).[0m ×2 + 70.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.008ms + 70.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.932ms + 71.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.548ms + 71.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905408 ms (missed cycles : 2). + 71.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905408 ms (missed cycles : 2).[0m ×2 + 71.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.301ms + 72.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.024ms + 72.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786393 ms (missed cycles : 3). + 72.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786393 ms (missed cycles : 3).[0m ×2 + 72.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.944ms + 73.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.704ms + 73.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990466 ms (missed cycles : 3). + 73.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990466 ms (missed cycles : 3).[0m ×2 + 73.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.425ms + 74.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314522 ms (missed cycles : 3). + 74.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314522 ms (missed cycles : 3).[0m ×2 + 75.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604979 ms (missed cycles : 2). + 75.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604979 ms (missed cycles : 2).[0m ×2 + 75.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.808ms + 75.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792756791.02232456 seconds ×3 + 75.79sINFOstate_estimatorReceived a set_pose request (stamp: 1792756791043563959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 75.80sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 14.34) is out of map bounds (-3.40, 1.50) to (1.58, 6.48). The costmap cannot raytrace for it. ×2 + 75.80sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 13.98) is out of map bounds (-3.40, 1.50) to (1.58, 6.48). The costmap cannot raytrace for it. ×2 + 76.00sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 76.00sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 14.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 76.23sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.436ms + 76.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678638 ms (missed cycles : 3). + 76.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678638 ms (missed cycles : 3).[0m ×2 + 76.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 76.31sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 76.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792756791.61570048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720442 ms (missed cycles : 3). + 77.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720442 ms (missed cycles : 3).[0m ×2 + 77.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 77.91sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 77.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549289, y=-0.0157556, yaw=-0.0120318 + 77.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.808ms + 78.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876059 ms (missed cycles : 2). + 78.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876059 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.5s | 186 warnings · 217 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110173 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110173 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237252 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237252 ms (missed cycles : 2).[0m ×2 + 8.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.907ms + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.423ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191228 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191228 ms (missed cycles : 2).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.959ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976150 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976150 ms (missed cycles : 3).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.607ms + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.602ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757776 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757776 ms (missed cycles : 2).[0m ×2 + 11.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330088 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330088 ms (missed cycles : 2).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.892ms + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.099ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969513 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969513 ms (missed cycles : 3).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.793ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054260 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054260 ms (missed cycles : 2).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.225ms + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.310ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271429 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271429 ms (missed cycles : 2).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.992ms + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.802ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733488 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733488 ms (missed cycles : 4).[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.475ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061934 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061934 ms (missed cycles : 3).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.165ms + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.182ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271216 ms (missed cycles : 3). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271216 ms (missed cycles : 3).[0m ×2 + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.978ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032626 ms (missed cycles : 3). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032626 ms (missed cycles : 3).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.002ms + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.369ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065390 ms (missed cycles : 3). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065390 ms (missed cycles : 3).[0m ×2 + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.405ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421771 ms (missed cycles : 3). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421771 ms (missed cycles : 3).[0m ×2 + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.796ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.967ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942423 ms (missed cycles : 3). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942423 ms (missed cycles : 3).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.785ms + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.041ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723504 ms (missed cycles : 3). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723504 ms (missed cycles : 3).[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.800ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.676ms + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474346 ms (missed cycles : 3). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474346 ms (missed cycles : 3).[0m ×2 + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.313ms + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949364 ms (missed cycles : 3). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949364 ms (missed cycles : 3).[0m ×2 + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.812ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.271ms + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474949 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474949 ms (missed cycles : 3).[0m ×2 + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.807ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.008ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705352 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705352 ms (missed cycles : 3).[0m ×2 + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.346ms + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213492 ms (missed cycles : 5). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213492 ms (missed cycles : 5).[0m ×2 + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.211ms + 29.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.127ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158713 ms (missed cycles : 4). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158713 ms (missed cycles : 4).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.583ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319578 ms (missed cycles : 4). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319578 ms (missed cycles : 4).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.997ms + 31.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.673ms + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119716 ms (missed cycles : 3). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119716 ms (missed cycles : 3).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.952ms + 33.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.189ms + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768358 ms (missed cycles : 3). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768358 ms (missed cycles : 3).[0m ×2 + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256123 ms (missed cycles : 5). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256123 ms (missed cycles : 5).[0m ×2 + 34.45sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.46sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.285ms + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567635 ms (missed cycles : 4). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567635 ms (missed cycles : 4).[0m ×2 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046860 ms (missed cycles : 6). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046860 ms (missed cycles : 6).[0m ×2 + 37.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387252 ms (missed cycles : 3). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387252 ms (missed cycles : 3).[0m ×2 + 37.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.783ms + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126695 ms (missed cycles : 2). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126695 ms (missed cycles : 2).[0m ×2 + 38.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.765ms + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527563 ms (missed cycles : 5). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527563 ms (missed cycles : 5).[0m ×2 + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012859 ms (missed cycles : 4). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012859 ms (missed cycles : 4).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.092ms + 41.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.772ms + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140206 ms (missed cycles : 3). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140206 ms (missed cycles : 3).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645461 ms (missed cycles : 5). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645461 ms (missed cycles : 5).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359601 ms (missed cycles : 3). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359601 ms (missed cycles : 3).[0m ×2 + 44.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.549ms + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439730 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439730 ms (missed cycles : 3).[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956100 ms (missed cycles : 3). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956100 ms (missed cycles : 3).[0m ×2 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284953 ms (missed cycles : 2). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284953 ms (missed cycles : 2).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.822ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549798 ms (missed cycles : 2). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549798 ms (missed cycles : 2).[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524540 ms (missed cycles : 3). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524540 ms (missed cycles : 3).[0m ×2 + 50.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911856 ms (missed cycles : 2). + 50.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911856 ms (missed cycles : 2).[0m ×2 + 51.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.060ms + 51.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826908 ms (missed cycles : 5). + 51.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826908 ms (missed cycles : 5).[0m ×2 + 52.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152189 ms (missed cycles : 2). + 52.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152189 ms (missed cycles : 2).[0m ×2 + 52.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 53.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168379 ms (missed cycles : 3). + 53.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168379 ms (missed cycles : 3).[0m ×2 + 54.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418900 ms (missed cycles : 3). + 54.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418900 ms (missed cycles : 3).[0m ×2 + 55.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 55.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241698 ms (missed cycles : 2). + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241698 ms (missed cycles : 2).[0m ×2 + 56.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.066ms + 56.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039932 ms (missed cycles : 4). + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039932 ms (missed cycles : 4).[0m ×2 + 57.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376258 ms (missed cycles : 3). + 57.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376258 ms (missed cycles : 3).[0m ×2 + 58.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651131 ms (missed cycles : 3). + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651131 ms (missed cycles : 3).[0m ×2 + 59.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.339ms + 59.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931556 ms (missed cycles : 3). + 59.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931556 ms (missed cycles : 3).[0m ×2 + 60.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.161ms + 60.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792756855.05651307 seconds ×3 + 60.37sINFOstate_estimatorReceived a set_pose request (stamp: 1792756855076666459, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.84sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.453ms + 60.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 60.84sINFOamclInitializing particles from estimated pose and covariance + 60.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 60.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569146, y=-0.017177, yaw=-0.0183898 + 60.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226777 ms (missed cycles : 2). + 60.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226777 ms (missed cycles : 2).[0m ×2 + 60.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.89sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792756855.67691755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.736ms + 61.34sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 61.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2). + 61.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2).[0m ×2 + 63.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022901 ms (missed cycles : 3). + 63.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022901 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.4s | 195 warnings · 234 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.875ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.838ms + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.893ms + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.941ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490485 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490485 ms (missed cycles : 2).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.292ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243769 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243769 ms (missed cycles : 2).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.525ms + 2.65sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.383ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 3.22sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792756556.78468251 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1792756556803262535, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351954 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351954 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 6.102ms + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792756557.38014960 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 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521840 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521840 ms (missed cycles : 2).[0m ×2 + 5.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.42sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.42sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.556ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589739 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589739 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857319 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857319 ms (missed cycles : 5).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090802 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090802 ms (missed cycles : 2).[0m ×2 + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.144ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555468 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555468 ms (missed cycles : 3).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.576ms + 9.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.079ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473850 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473850 ms (missed cycles : 3).[0m ×2 + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.141ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237373 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237373 ms (missed cycles : 2).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.275ms + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.546ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377347 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377347 ms (missed cycles : 3).[0m ×2 + 12.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.990ms + 12.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.222ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202315 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202315 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.860ms + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997780 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997780 ms (missed cycles : 2).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.225ms + 14.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.699ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967944 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967944 ms (missed cycles : 3).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.291ms + 16.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.018ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427052 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427052 ms (missed cycles : 3).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.358ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691002 ms (missed cycles : 4). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691002 ms (missed cycles : 4).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.028ms + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.745ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754615 ms (missed cycles : 3). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754615 ms (missed cycles : 3).[0m ×2 + 18.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.131ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368746 ms (missed cycles : 3). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368746 ms (missed cycles : 3).[0m ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.424ms + 19.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245266 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245266 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 21.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.350ms + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120793 ms (missed cycles : 3). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120793 ms (missed cycles : 3).[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.742ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002369 ms (missed cycles : 3). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002369 ms (missed cycles : 3).[0m ×2 + 22.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.797ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.625ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786438 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786438 ms (missed cycles : 2).[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.891ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.255ms + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116996 ms (missed cycles : 2). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116996 ms (missed cycles : 2).[0m ×2 + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.639ms + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230776 ms (missed cycles : 3). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230776 ms (missed cycles : 3).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.409ms + 26.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.880ms + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771102 ms (missed cycles : 4). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771102 ms (missed cycles : 4).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.694ms + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300190 ms (missed cycles : 4). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300190 ms (missed cycles : 4).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.699ms + 28.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.999ms + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751701 ms (missed cycles : 3). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751701 ms (missed cycles : 3).[0m ×2 + 29.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.494ms + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695735 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695735 ms (missed cycles : 2).[0m ×2 + 29.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.283ms + 30.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.133ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029658 ms (missed cycles : 3). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029658 ms (missed cycles : 3).[0m ×2 + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.104ms + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.546ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871670 ms (missed cycles : 3). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871670 ms (missed cycles : 3).[0m ×2 + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.821ms + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656036 ms (missed cycles : 3). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656036 ms (missed cycles : 3).[0m ×2 + 33.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.332ms + 33.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.925ms + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810639 ms (missed cycles : 2). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810639 ms (missed cycles : 2).[0m ×2 + 34.87sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.89sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690303 ms (missed cycles : 3). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690303 ms (missed cycles : 3).[0m ×2 + 35.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.179ms + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026354 ms (missed cycles : 3). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026354 ms (missed cycles : 3).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012007 ms (missed cycles : 2). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012007 ms (missed cycles : 2).[0m ×2 + 37.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.437ms + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532896 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532896 ms (missed cycles : 3).[0m ×2 + 39.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.234ms + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926642 ms (missed cycles : 3). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926642 ms (missed cycles : 3).[0m ×2 + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433986 ms (missed cycles : 6). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433986 ms (missed cycles : 6).[0m ×2 + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292642 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292642 ms (missed cycles : 3).[0m ×2 + 41.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.861ms + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606412 ms (missed cycles : 4). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606412 ms (missed cycles : 4).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185822 ms (missed cycles : 4). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185822 ms (missed cycles : 4).[0m ×2 + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290554 ms (missed cycles : 4). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290554 ms (missed cycles : 4).[0m ×2 + 45.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.043ms + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871658 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871658 ms (missed cycles : 2).[0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958302 ms (missed cycles : 3). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958302 ms (missed cycles : 3).[0m ×2 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980193 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980193 ms (missed cycles : 3).[0m ×2 + 48.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.894ms + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595341 ms (missed cycles : 4). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595341 ms (missed cycles : 4).[0m ×2 + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212762 ms (missed cycles : 2). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212762 ms (missed cycles : 2).[0m ×2 + 51.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304327 ms (missed cycles : 2). + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304327 ms (missed cycles : 2).[0m ×2 + 52.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.950ms + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144986 ms (missed cycles : 3). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144986 ms (missed cycles : 3).[0m ×2 + 53.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878006 ms (missed cycles : 3). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878006 ms (missed cycles : 3).[0m ×2 + 54.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510183 ms (missed cycles : 3). + 54.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510183 ms (missed cycles : 3).[0m ×2 + 55.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745938 ms (missed cycles : 2). + 55.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745938 ms (missed cycles : 2).[0m ×2 + 55.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.226ms + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125543 ms (missed cycles : 3). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125543 ms (missed cycles : 3).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 59.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 59.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 60.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 60.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 60.72sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.72sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 60.72sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 60.82sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 60.82sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 60.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 60.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 60.92sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.92sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 61.02sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.02sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.24sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.32sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 61.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 61.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 61.70sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 62.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 63.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 63.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.6s | 190 warnings · 235 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 2.74sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.74sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792756653.24008107 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1792756653260119078, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.30sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792756653.84710979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2).[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.088ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.03sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800987 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800987 ms (missed cycles : 3).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637956 ms (missed cycles : 4). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637956 ms (missed cycles : 4).[0m ×2 + 8.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.128ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118829 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118829 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.667ms + 9.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169937 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169937 ms (missed cycles : 2).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.417ms + 10.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.849ms + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958712 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958712 ms (missed cycles : 2).[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.254ms + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597478 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597478 ms (missed cycles : 3).[0m ×2 + 12.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.630ms + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.100ms + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729505 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729505 ms (missed cycles : 2).[0m ×2 + 13.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.319ms + 14.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.961ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280347 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280347 ms (missed cycles : 2).[0m ×2 + 14.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.814ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541688 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541688 ms (missed cycles : 3).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.469ms + 16.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.730ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481701 ms (missed cycles : 5). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481701 ms (missed cycles : 5).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.236ms + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.976246 ms (missed cycles : 6). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.976246 ms (missed cycles : 6).[0m ×2 + 17.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.395ms + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.554ms + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105653 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105653 ms (missed cycles : 3).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.697ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036979 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036979 ms (missed cycles : 2).[0m ×2 + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.287ms + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.201ms + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696346 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.410ms + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811452 ms (missed cycles : 3). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811452 ms (missed cycles : 3).[0m ×2 + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.209ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256151 ms (missed cycles : 2). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256151 ms (missed cycles : 2).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.626ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066242 ms (missed cycles : 2). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066242 ms (missed cycles : 2).[0m ×2 + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.231ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.300ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684936 ms (missed cycles : 3). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684936 ms (missed cycles : 3).[0m ×2 + 25.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.722ms + 25.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986711 ms (missed cycles : 2). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986711 ms (missed cycles : 2).[0m ×2 + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.665ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.620ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592594 ms (missed cycles : 5). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592594 ms (missed cycles : 5).[0m ×2 + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.881ms + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315611 ms (missed cycles : 5). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315611 ms (missed cycles : 5).[0m ×2 + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.526ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.957ms + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687518 ms (missed cycles : 2). + 29.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687518 ms (missed cycles : 2).[0m ×2 + 29.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.989ms + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336444 ms (missed cycles : 2). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336444 ms (missed cycles : 2).[0m ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.901ms + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243115 ms (missed cycles : 3). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243115 ms (missed cycles : 3).[0m ×2 + 31.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.945ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.285ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291964 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291964 ms (missed cycles : 2).[0m ×2 + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.632ms + 33.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.903ms + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582471 ms (missed cycles : 3). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582471 ms (missed cycles : 3).[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300930 ms (missed cycles : 2). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300930 ms (missed cycles : 2).[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874439 ms (missed cycles : 3). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874439 ms (missed cycles : 3).[0m ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255679 ms (missed cycles : 3). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255679 ms (missed cycles : 3).[0m ×2 + 36.98sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500050 ms (missed cycles : 3). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500050 ms (missed cycles : 3).[0m ×2 + 37.73sINFOobjective_server_nodePlanning for 48 path waypoints. ×3 + 38.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.235ms + 38.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967552 ms (missed cycles : 3). + 38.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967552 ms (missed cycles : 3).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178671 ms (missed cycles : 5). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.178671 ms (missed cycles : 5).[0m ×2 + 40.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.658ms + 40.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.430ms + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178882 ms (missed cycles : 5). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178882 ms (missed cycles : 5).[0m ×2 + 41.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.178ms + 41.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.159ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052140 ms (missed cycles : 4). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052140 ms (missed cycles : 4).[0m ×2 + 42.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.579ms + 43.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585954 ms (missed cycles : 3). + 43.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585954 ms (missed cycles : 3).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.825ms + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843868 ms (missed cycles : 3). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843868 ms (missed cycles : 3).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341579 ms (missed cycles : 3). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341579 ms (missed cycles : 3).[0m ×2 + 45.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.043ms + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075749 ms (missed cycles : 4). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075749 ms (missed cycles : 4).[0m ×2 + 46.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.172ms + 47.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.110ms + 47.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942088 ms (missed cycles : 3). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942088 ms (missed cycles : 3).[0m ×2 + 47.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.503ms + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857774 ms (missed cycles : 3). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857774 ms (missed cycles : 3).[0m ×2 + 48.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.465ms + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.028ms + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944410 ms (missed cycles : 2). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944410 ms (missed cycles : 2).[0m ×2 + 49.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.858ms + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987101 ms (missed cycles : 2). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987101 ms (missed cycles : 2).[0m ×2 + 50.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.301ms + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309622 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309622 ms (missed cycles : 3).[0m ×2 + 51.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.087ms + 52.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.331ms + 52.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853630 ms (missed cycles : 2). + 52.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853630 ms (missed cycles : 2).[0m ×2 + 53.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.282ms + 53.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919842 ms (missed cycles : 3). + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919842 ms (missed cycles : 3).[0m ×2 + 54.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.989ms + 54.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999708 ms (missed cycles : 3). + 54.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999708 ms (missed cycles : 3).[0m ×2 + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837701 ms (missed cycles : 6). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837701 ms (missed cycles : 6).[0m ×2 + 55.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.590ms + 56.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147257 ms (missed cycles : 2). + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147257 ms (missed cycles : 2).[0m ×2 + 56.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 57.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792756707.88729453 seconds ×3 + 57.46sINFOstate_estimatorReceived a set_pose request (stamp: 1792756707906576372, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 57.59sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 11.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 57.59sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 57.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091193 ms (missed cycles : 4). + 57.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091193 ms (missed cycles : 4).[0m ×2 + 57.91sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.476ms + 57.91sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 57.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 57.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.03sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792756708.49215055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 25.263ms + 58.45sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 58.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551404 ms (missed cycles : 3). + 58.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551404 ms (missed cycles : 3).[0m ×2 + 59.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840949 ms (missed cycles : 3). + 59.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840949 ms (missed cycles : 3).[0m ×2 + 60.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007523 ms (missed cycles : 2). + 60.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007523 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 147 warnings · 424 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.94sINFOmove_groupClearing octomap...[0m ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×2 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509897 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509897 ms (missed cycles : 3).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 1215 particles 811 points - 8.097ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957658 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957658 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.366319 ms (missed cycles : 6). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.366319 ms (missed cycles : 6).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902464 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902464 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105896 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105896 ms (missed cycles : 2).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978753 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978753 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735204 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735204 ms (missed cycles : 2).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499003 ms (missed cycles : 4). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499003 ms (missed cycles : 4).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750415 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750415 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302068 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302068 ms (missed cycles : 4).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004985 ms (missed cycles : 4). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004985 ms (missed cycles : 4).[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091515 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091515 ms (missed cycles : 2).[0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552976 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552976 ms (missed cycles : 3).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761190 ms (missed cycles : 4). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761190 ms (missed cycles : 4).[0m ×2 + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.382ms + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169981 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169981 ms (missed cycles : 2).[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629196 ms (missed cycles : 3). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629196 ms (missed cycles : 3).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610667 ms (missed cycles : 4). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610667 ms (missed cycles : 4).[0m ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148382 ms (missed cycles : 2). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148382 ms (missed cycles : 2).[0m ×2 + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580227 ms (missed cycles : 2). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580227 ms (missed cycles : 2).[0m ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972532 ms (missed cycles : 3). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972532 ms (missed cycles : 3).[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992572 ms (missed cycles : 5). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.992572 ms (missed cycles : 5).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287058 ms (missed cycles : 3). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287058 ms (missed cycles : 3).[0m ×2 + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121196 ms (missed cycles : 3). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121196 ms (missed cycles : 3).[0m ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483435 ms (missed cycles : 3). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483435 ms (missed cycles : 3).[0m ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823788 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823788 ms (missed cycles : 2).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598164 ms (missed cycles : 4). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598164 ms (missed cycles : 4).[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237144 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237144 ms (missed cycles : 2).[0m ×2 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006774 ms (missed cycles : 4). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006774 ms (missed cycles : 4).[0m ×2 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715136 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715136 ms (missed cycles : 2).[0m ×2 + 37.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.031ms + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375779 ms (missed cycles : 3). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375779 ms (missed cycles : 3).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729457 ms (missed cycles : 2). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729457 ms (missed cycles : 2).[0m ×2 + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923260 ms (missed cycles : 5). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923260 ms (missed cycles : 5).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246952 ms (missed cycles : 2). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246952 ms (missed cycles : 2).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.247458 ms (missed cycles : 6). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.247458 ms (missed cycles : 6).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520021 ms (missed cycles : 4). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520021 ms (missed cycles : 4).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788864 ms (missed cycles : 3). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788864 ms (missed cycles : 3).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3).[0m ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3).[0m ×2 + 46.55sINFOjoint_trajectory_controllerGoal reached, success! + 46.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792756550.51769328 seconds ×3 + 46.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.62sINFOstate_estimatorReceived a set_pose request (stamp: 1792756550535322351, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3).[0m ×2 + 46.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 47.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792756551.10448194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.20sWARNobjective_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 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3).[0m ×2 + 48.40sINFOobjective_server_nodeFound path in 0 iterations (4.0208e-05 s). ×2 + 48.47sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.73sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 48.73sINFOamclInitializing particles from estimated pose and covariance + 48.73sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 48.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0527305, y=-0.018893, yaw=-0.0107737 + 48.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.483ms + 48.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2). + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2).[0m ×2 + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 49.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.875ms + 50.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3). + 50.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3).[0m ×2 + 50.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.838ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 116 warnings · 185 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814281 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814281 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891777 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891777 ms (missed cycles : 3).[0m ×2 + 2.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.09sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792756620.64053488 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737820 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737820 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561834 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561834 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792756622.23986959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017624 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017624 ms (missed cycles : 4).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301785 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301785 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198547 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198547 ms (missed cycles : 2).[0m ×2 + 6.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835065 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835065 ms (missed cycles : 3).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.235ms + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528242 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528242 ms (missed cycles : 2).[0m ×2 + 9.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.161ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444078 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444078 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.825ms + 10.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.158ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496033 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496033 ms (missed cycles : 3).[0m ×2 + 11.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.686ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269794 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269794 ms (missed cycles : 2).[0m ×2 + 11.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.871ms + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.005ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256958 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256958 ms (missed cycles : 4).[0m ×2 + 13.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.360ms + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232118 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232118 ms (missed cycles : 2).[0m ×2 + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.384ms + 14.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.417ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368185 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368185 ms (missed cycles : 3).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.910ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439554 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439554 ms (missed cycles : 3).[0m ×2 + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.750ms + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.399ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088110 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088110 ms (missed cycles : 2).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.872ms + 17.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.202ms + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030687 ms (missed cycles : 5). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030687 ms (missed cycles : 5).[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.502ms + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934459 ms (missed cycles : 3). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934459 ms (missed cycles : 3).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.678ms + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.989ms + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447202 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447202 ms (missed cycles : 2).[0m ×2 + 20.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.516ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765763 ms (missed cycles : 2). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765763 ms (missed cycles : 2).[0m ×2 + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.634ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278144 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278144 ms (missed cycles : 2).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.796ms + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.115ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859704 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859704 ms (missed cycles : 2).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.646ms + 24.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.129ms + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516021 ms (missed cycles : 3). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516021 ms (missed cycles : 3).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.487ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665736 ms (missed cycles : 4). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665736 ms (missed cycles : 4).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.104ms + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.116ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425432 ms (missed cycles : 3). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425432 ms (missed cycles : 3).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.181ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151995 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151995 ms (missed cycles : 3).[0m ×2 + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.151ms + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193634 ms (missed cycles : 3). + 28.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193634 ms (missed cycles : 3).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.474ms + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.937ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342493 ms (missed cycles : 2). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342493 ms (missed cycles : 2).[0m ×2 + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.418ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943908 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943908 ms (missed cycles : 2).[0m ×2 + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.401ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2).[0m ×2 + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2).[0m ×2 + 33.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3).[0m ×2 + 34.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 34.69sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792756653.24008107 seconds ×3 + 34.74sINFOstate_estimatorReceived a set_pose request (stamp: 1792756653260119078, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.81sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 34.81sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 34.91sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.91sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 35.21sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 35.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.21sINFOamclInitializing particles from estimated pose and covariance + 35.21sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 35.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792756653.84710979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2).[0m ×2 + 35.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.088ms + 35.72sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.4s | 72 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376258 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376258 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651131 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651131 ms (missed cycles : 3).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.339ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931556 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931556 ms (missed cycles : 3).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.161ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.55sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1792756855.05651307 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOstate_estimatorReceived a set_pose request (stamp: 1792756855076666459, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.76sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.453ms + 3.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.07sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.07sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569146, y=-0.017177, yaw=-0.0183898 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226777 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226777 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1792756855.67691755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 23.736ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022901 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022901 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424143 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424143 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122823 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122823 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062887 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062887 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740616 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740616 ms (missed cycles : 2).[0m ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 9.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.68sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.01sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 10.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.39sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894210 ms (missed cycles : 5). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894210 ms (missed cycles : 5).[0m ×2 + 10.76sINFOobjective_server_nodeFound path in 33 iterations (0.0405022 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581890 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581890 ms (missed cycles : 3).[0m ×2 + 12.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.06sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341506 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341506 ms (missed cycles : 2).[0m ×2 + 12.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446329 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446329 ms (missed cycles : 3).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418558 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418558 ms (missed cycles : 3).[0m ×2 + 15.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.448ms + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915785 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915785 ms (missed cycles : 3).[0m ×2 + 16.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.835ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744020 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744020 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.925ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.743ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3).[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4).[0m ×2 + 18.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792756871.46661186 seconds ×3 + 19.00sINFOstate_estimatorReceived a set_pose request (stamp: 1792756871484816306, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.38sINFOamclParticle filter update iteration stats: 1502 particles 811 points - 6.273ms + 19.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756872.09229231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.60sINFOmove_groupClearing octomap...[0m ×2 + 19.60sINFOmove_groupOctomap cleared.[0m ×2 + 19.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3).[0m ×2 + 20.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756873.07245326 seconds ×3 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2).[0m ×2 + 21.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 21.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756873.66253591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.806ms + 22.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756874.67269802 seconds ×3 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2).[0m ×2 + 22.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.2s | 114 errors · 33 warnings · 581 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.743ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4).[0m ×2 + 1.18sINFOjoint_trajectory_controllerGoal reached, success! + 1.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792756871.46661186 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.23sINFOstate_estimatorReceived a set_pose request (stamp: 1792756871484816306, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.61sINFOamclParticle filter update iteration stats: 1502 particles 811 points - 6.273ms + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.74sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.74sINFOobjective_server_nodecaller: ×4 + 1.74sINFOobjective_server_nodetype: 0 ×4 + 1.74sINFOobjective_server_nodename: "" ×4 + 1.74sINFOobjective_server_nodeinstance_id: "" ×4 + 1.74sINFOobjective_server_node ×4 + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756872.09229231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.87sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.87sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756873.07245326 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2).[0m ×2 + 3.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.33sINFOamclInitializing particles from estimated pose and covariance + 3.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756873.66253591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.806ms + 4.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756874.67269802 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2).[0m ×2 + 4.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699942 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699942 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410165 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410165 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146299 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146299 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939601 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939601 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555226 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555226 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490387 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490387 ms (missed cycles : 3).[0m ×2 + 10.71sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.73sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORweb_video_auth_proxy-41process has died [pid 8393, 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 + 10.74sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.75sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORweb_bridge_auth_proxy-40process has died [pid 8392, 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 + 10.75sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.78sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.80sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.81sINFOvideo_server-39process has finished cleanly [pid 8391] ×2 + 10.81sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.82sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.83sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.84sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.85sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.86sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.88sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.89sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.90sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.92sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.93sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.95sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.96sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.97sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.97sINFOcontroller_managerShutdown request received.... + 10.97sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.97sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.97sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.97sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.97sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.97sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.97sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.97sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.97sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.97sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.97sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.97sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.97sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.97sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.97sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.97sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.97sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.97sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.98sINFOcontroller_managerShutting down the controller manager. + 10.98sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.00sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.02sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.02sERRORmove_group-25process has died [pid 8353, 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_t4sxcyh3 --params-file /tmp/launch_params_rv9usrga --params-file /tmp/launch_params_q233dylt --params-file /tmp/launch_params_6eb6obcy --params-file /tmp/launch_params_j2_gpad2 --params-file /tmp/launch_params_so7hyf7l']. ×2 + 11.03sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.05sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.06sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.07sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.08sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.09sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.10sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.11sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.11sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.11sINFOmap_serverDeactivating + 11.11sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.12sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.12sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.12sINFOcontroller_serverDeactivating + 11.12sINFOlocal_costmap.local_costmapDeactivating + 11.12sINFOvideo_server2026/10/23 12:01:21 INF shutting down gracefully ×2 + 11.12sINFOvideo_server2026/10/23 12:01:21 INF [WebRTC] closing ×2 + 11.12sINFOvideo_server2026/10/23 12:01:21 INF [RTSP] closing ×2 + 11.12sINFOvideo_server2026/10/23 12:01:21 INF waiting for running hooks ×2 + 11.12sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.12sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOmap_serverCleaning up + 11.12sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.12sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.12sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.12sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.12sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.12sERRORmove_groupStack trace (most recent call last) in thread 9015: ×2 + 11.12sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.12sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.12sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50570b4cc3, in __clone ×2 + 11.12sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5057027b83, in ×2 + 11.12sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50572b8db3, in ×2 + 11.12sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f5057a22e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.12sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f505764c620, in rclcpp::Rate::sleep() ×2 + 11.12sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f505758ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.12sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5057550087, in ×2 + 11.12sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5057287390, in __cxa_throw ×2 + 11.12sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5057271a54, in std::terminate() ×2 + 11.12sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50572870d9, in ×2 + 11.12sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5057271ff4, in ×2 + 11.12sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5056fb38fe, in abort ×2 + 11.12sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5056fd027d, in raise ×2 + 11.12sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5057029c0c, in pthread_kill ×2 + 11.12sERRORmove_groupAborted (Signal sent by tkill() 8353 0) ×2 + 11.12sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.12sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.12sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.12sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.12sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.12sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.12sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.12sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.12sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.13sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.13sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.13sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.13sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sERRORamclThe bond connection to the lifecycle manager has been broken + 11.19sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.19sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.20sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.21sINFOcontroller_serverCleaning up + 11.21sINFOlocal_costmap.local_costmapCleaning up + 11.25sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.25sINFOsmoother_serverDeactivating + 11.25sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.26sINFOsmoother_serverCleaning up + 11.27sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.27sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.27sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.27sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.27sINFOvelocity_smootherDeactivating + 11.28sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.28sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.28sINFOplanner_serverDeactivating + 11.28sINFOglobal_costmap.global_costmapDeactivating + 11.39sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.39sINFOwaypoint_followerDeactivating + 11.39sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.50sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.50sINFObt_navigatorDeactivating + 11.50sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.62sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.62sINFObehavior_serverDeactivating + 11.62sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.73sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.73sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.73sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.73sINFOvelocity_smootherCleaning up + 11.74sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.74sINFOwaypoint_followerCleaning up + 11.77sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.77sINFObt_navigatorCleaning up + 11.84sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.84sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.84sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.84sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.84sINFOjoint_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 + 11.84sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.84sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.84sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.84sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.84sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.84sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.84sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.85sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.85sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.85sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.85sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.85sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.85sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.85sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.85sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8390] ×2 + 11.85sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.86sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.86sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.86sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.86sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOtf_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 + 11.86sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.86sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.86sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.86sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.86sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.86sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.86sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.86sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.86sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.86sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.86sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.86sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.86sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.86sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.91sERRORjoint_state_visualization_relay-37process has died [pid 8389, 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_vlv53ge3']. ×2 + 11.91sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.93sERRORtf_visualization_relay-36process has died [pid 8388, 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_usvn8wvw']. ×2 + 11.93sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.95sINFObt_navigatorCompleted Cleaning up + 11.95sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.95sINFObehavior_serverCleaning up + 11.96sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8357] ×2 + 11.97sINFOui_teleop_bridge-34process has finished cleanly [pid 8382] ×2 + 11.98sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8356] ×2 + 11.98sINFOexecute_objective_bridge-33process has finished cleanly [pid 8380] ×2 + 12.01sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.01sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.01sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.01sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.01sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.01sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.01sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.01sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.01sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.02sINFOparameter_manager_node-26process has finished cleanly [pid 8354] ×2 + 12.02sINFOplanner_serverCleaning up + 12.04sINFOwaypoint_manager_node-27process has finished cleanly [pid 8355] ×2 + 12.04sINFOglobal_costmap.global_costmapCleaning up + 12.05sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.05sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.06sINFOrelay-11process has finished cleanly [pid 8287] ×2 + 12.06sINFOcomponent_container_mt-32process has finished cleanly [pid 8379] ×2 + 12.07sINFOrelay-10process has finished cleanly [pid 8286] ×2 + 12.07sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8288] ×2 + 12.08sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8182] ×2 + 12.08sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.08sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.08sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.08sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.08sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.10sINFOobjective_server_node[2026-10-23 12:01:22.358] [moveit_pro_license] [critical] ×2 + 12.10sINFOobjective_server_node************************************************* ×4 + 12.10sINFOobjective_server_node* MoveIt Pro License ×2 + 12.10sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.10sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8181] ×2 + 12.11sINFOstatic_transform_publisher-7process has finished cleanly [pid 8180] ×2 + 12.11sINFOcomponent_container_mt-31process has finished cleanly [pid 8378] ×2 + 12.12sINFOstatic_transform_publisher-6process has finished cleanly [pid 8179] ×2 + 12.12sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.12sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.12sINFOlidar_flattener.pymain() ×2 + 12.12sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.12sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.12sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.12sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.12sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.12sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.12sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.12sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.12sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.12sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.12sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.13sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.13sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.13sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.14sINFOstatic_transform_publisher-3process has finished cleanly [pid 8176] ×2 + 12.17sERRORlidar_flattener.py-5process has died [pid 8178, 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_w5xibx00']. ×2 + 12.30sINFOobjective_server_node_main-30process has finished cleanly [pid 8358] ×2 + 12.30sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.42sERRORcomponent_container_isolated-1process has died [pid 8174, 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_bjxyrfez --params-file /tmp/launch_params_lkdkia9r -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.45sERRORcomponent_container_isolated-2process has died [pid 8175, 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_bjxyrfez --params-file /tmp/launch_params_1lx9wgcd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.13sINFOodom_world_drift-4process has finished cleanly [pid 8177] ×2 + 13.71sINFOros2_control_node-13process has finished cleanly [pid 8289] ×2 + 13.89sINFOweb_bridge-35process has finished cleanly [pid 8385] ×2 + 13.89sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 67 warnings · 169 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.989ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999708 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999708 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837701 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837701 ms (missed cycles : 6).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.590ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147257 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147257 ms (missed cycles : 2).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1792756707.88729453 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOstate_estimatorReceived a set_pose request (stamp: 1792756707906576372, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.01, 11.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.70) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091193 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091193 ms (missed cycles : 4).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.476ms + 3.32sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.32sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.32sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569582, y=-0.0171783, yaw=-0.0183984 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1792756708.49215055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 25.263ms + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551404 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551404 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840949 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840949 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007523 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007523 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091426 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091426 ms (missed cycles : 2).[0m ×2 + 8.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.864ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372155 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372155 ms (missed cycles : 3).[0m ×2 + 8.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.488ms + 9.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.255ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418809 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418809 ms (missed cycles : 3).[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.856ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334550 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334550 ms (missed cycles : 3).[0m ×2 + 10.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.269ms + 11.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.221ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133787 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133787 ms (missed cycles : 2).[0m ×2 + 12.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.366ms + 12.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.870ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940830 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940830 ms (missed cycles : 3).[0m ×2 + 13.46sINFOobjective_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 + 13.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.202ms + 13.46sINFOjoint_trajectory_controllerGot request to cancel goal + 13.46sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.51sERRORobjective_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: 1792756718.55987668 seconds ×3 + 13.53sINFOstate_estimatorReceived a set_pose request (stamp: 1792756718577482930, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.71sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.71sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.81sWARNlocal_costmap.local_costmapSensor origin at (-0.58, 3.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.81sWARNlocal_costmap.local_costmapSensor origin at (-1.48, 3.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873239 ms (missed cycles : 4). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873239 ms (missed cycles : 4).[0m ×2 + 14.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.05sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.09sINFOamclParticle filter update iteration stats: 4931 particles 811 points - 9.042ms + 14.10sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568982, y=-0.0171799, yaw=-0.0184001 + 14.11sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1792756719.16207862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.571ms + 14.55sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942391 ms (missed cycles : 5). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942391 ms (missed cycles : 5).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879030 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879030 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673128 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673128 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 54 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814281 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814281 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891777 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891777 ms (missed cycles : 3).[0m ×2 + 9.32sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1792756620.64053488 seconds ×3 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737820 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737820 ms (missed cycles : 2).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561834 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561834 ms (missed cycles : 3).[0m ×2 + 10.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.86sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1792756622.23986959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017624 ms (missed cycles : 4). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017624 ms (missed cycles : 4).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301785 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301785 ms (missed cycles : 2).[0m ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198547 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198547 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 46 warnings · 148 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.944ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.704ms + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990466 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990466 ms (missed cycles : 3).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.425ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314522 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314522 ms (missed cycles : 3).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604979 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604979 ms (missed cycles : 2).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.808ms + 3.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1792756791.02232456 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOstate_estimatorReceived a set_pose request (stamp: 1792756791043563959, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.42, 14.34) is out of map bounds (-3.40, 1.50) to (1.58, 6.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 13.98) is out of map bounds (-3.40, 1.50) to (1.58, 6.48). The costmap cannot raytrace for it. ×2 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.24, 14.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.436ms + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678638 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678638 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1792756791.61570048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.30sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720442 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720442 ms (missed cycles : 3).[0m ×2 + 5.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 5.38sINFOamclInitializing particles from estimated pose and covariance + 5.38sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 5.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549289, y=-0.0157556, yaw=-0.0120318 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.808ms + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876059 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876059 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 8.39sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 9.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 10.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.26sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 10.73sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 12.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.3s | 42 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788864 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788864 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792756550.51769328 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_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 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1792756550535322351, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×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 `Compute IK, Plan and Move` starting at time: 1792756551.10448194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.0208e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 5.00sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 5.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0527305, y=-0.018893, yaw=-0.0107737 + 5.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.483ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2).[0m ×2 + 5.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.875ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.838ms + 6.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.893ms + 7.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.941ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490485 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490485 ms (missed cycles : 2).[0m ×2 + 7.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.292ms + 7.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 8.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243769 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243769 ms (missed cycles : 2).[0m ×2 + 8.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.525ms + 8.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.383ms + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 9.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792756556.78468251 seconds ×3 + 9.16sINFOstate_estimatorReceived a set_pose request (stamp: 1792756556803262535, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351954 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351954 ms (missed cycles : 3).[0m ×2 + 9.58sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 6.102ms + 9.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.67sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.72sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792756557.38014960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.10sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521840 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521840 ms (missed cycles : 2).[0m ×2 + 11.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 11.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 11.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 11.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.556ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589739 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589739 ms (missed cycles : 2).[0m ×2 + 12.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857319 ms (missed cycles : 5). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857319 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 27 warnings · 127 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915785 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915785 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.835ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744020 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744020 ms (missed cycles : 2).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.925ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.743ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792756871.46661186 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOstate_estimatorReceived a set_pose request (stamp: 1792756871484816306, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.63sINFOamclParticle filter update iteration stats: 1502 particles 811 points - 6.273ms + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756872.09229231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756873.07245326 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2).[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756873.66253591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.806ms + 6.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756874.67269802 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2).[0m ×2 + 6.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699942 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699942 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410165 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410165 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 6 errors · 24 warnings · 730 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 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: ""
×3 + 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.15sINFOobjective_server_nodeobjective_name: "" ×10 + 0.15sINFOobjective_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 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.15sINFOobjective_server_nodecaller: ×24 + 0.15sINFOobjective_server_nodetype: 0 ×24 + 0.15sINFOobjective_server_nodename: "" ×24 + 0.15sINFOobjective_server_nodeinstance_id: "" ×24 + 0.15sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 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: ""
+ 0.84sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.84sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.84sINFOobjective_server_node</Control> ×16 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.84sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.84sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 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: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_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: ""
+ 1.65sINFOobjective_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 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 1.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.53sINFOmove_groupClearing octomap...[0m ×4 + 2.53sINFOmove_groupOctomap cleared.[0m ×4 + 2.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 0.7s | 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 + 0.54sINFOobjective_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: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 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 + 0.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 1.42sINFOobjective_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: ""
+ 1.42sINFOobjective_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: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 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 + 1.62sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_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: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 2.43sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.11sINFOmove_groupClearing octomap...[0m ×4 + 3.11sINFOmove_groupOctomap cleared.[0m ×4 + 3.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 7.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 7.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.24sINFOros2_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 |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.94sINFOmove_groupClearing octomap...[0m ×2 + 2.94sINFOmove_groupOctomap cleared.[0m ×2 + 2.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.93sINFOjoint_trajectory_controllerReceived new action goal + 4.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.93sINFOjoint_trajectory_controllerAccepted new action goal + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509897 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509897 ms (missed cycles : 3).[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 3.788864 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788864 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792756550.51769328 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1792756550535322351, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792756551.10448194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.0208e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOjoint_trajectory_controllerReceived new action goal + 4.77sINFOjoint_trajectory_controllerAccepted new action goal + 4.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 5.00sINFOamclInitializing particles from estimated pose and covariance + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 5.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0527305, y=-0.018893, yaw=-0.0107737 + 5.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.483ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2).[0m ×2 + 5.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.875ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.838ms | ||||
| − 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 3.788864 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788864 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897276 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841321 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1792756550.51769328 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1792756550535322351, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572265 ms (missed cycles : 3).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1792756551.10448194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sWARNobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200829 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.0208e-05 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOjoint_trajectory_controllerReceived new action goal + 4.77sINFOjoint_trajectory_controllerAccepted new action goal + 4.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 5.00sINFOamclInitializing particles from estimated pose and covariance + 5.00sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 5.00sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0527305, y=-0.018893, yaw=-0.0107737 + 5.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.483ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732668 ms (missed cycles : 2).[0m ×2 + 5.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.875ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.838ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 90 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.058ms + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.875ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707842 ms (missed cycles : 3).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.838ms + 0.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.893ms + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.941ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490485 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490485 ms (missed cycles : 2).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.292ms + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.517ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243769 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243769 ms (missed cycles : 2).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.525ms + 2.65sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.383ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.174ms + 3.22sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1792756556.78468251 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sINFOstate_estimatorReceived a set_pose request (stamp: 1792756556803262535, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351954 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351954 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1629 particles 811 points - 6.102ms + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1792756557.38014960 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 ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521840 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521840 ms (missed cycles : 2).[0m ×2 + 5.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.42sINFOamclInitializing particles from estimated pose and covariance + 5.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.42sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567331, y=-0.0171841, yaw=-0.0184047 + 5.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.556ms + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589739 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589739 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal + 6.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857319 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857319 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 33 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 33 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 33 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 33 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 33 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 33 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 33 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544640 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891331 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655603 ms (missed cycles : 3).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.125ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1792756614.22032833 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOstate_estimatorReceived a set_pose request (stamp: 1792756614240461998, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.03sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193474 ms (missed cycles : 2).[0m ×2 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.493ms + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-2.89, 13.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.79, 13.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.44sINFOobjective_server_nodecaller: ×2 + 3.44sINFOobjective_server_nodetype: 0 ×2 + 3.44sINFOobjective_server_nodename: "" ×2 + 3.44sINFOobjective_server_nodeinstance_id: "" ×2 + 3.44sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1792756614.83774519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.228ms + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.53sINFOamclInitializing particles from estimated pose and covariance + 3.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.552ms + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929477 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796024 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903135 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 26 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792756653.24008107 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1792756653260119078, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792756653.84710979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2).[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.088ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate Hangar Loop | navigate_hangar_loop.xml | 0.0s | 26 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792756653.24008107 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1792756653260119078, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792756653.84710979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2).[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.088ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 26 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792756653.24008107 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1792756653260119078, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792756653.84710979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2).[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.088ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 26 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.888ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027337 ms (missed cycles : 2).[0m ×2 + 0.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.300ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880216 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413067 ms (missed cycles : 3).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.313ms + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1792756653.24008107 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1792756653260119078, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.71, 13.17) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.61, 13.20) is out of map bounds (-4.70, 4.35) to (0.28, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.99sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.787ms + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.30sINFOamclInitializing particles from estimated pose and covariance + 3.30sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.30sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1792756653.84710979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161272 ms (missed cycles : 2).[0m ×2 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.088ms + 3.80sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907314 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511907 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place | refine_localization_in_place.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 6 errors · 21 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 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 seconds ×3 + 0.14sINFOobjective_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 + 0.16sINFOobjective_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: ""
×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: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 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 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.28sINFOros2_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: ""
+ 0.81sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.86sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 1.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.69sINFOmove_groupClearing octomap...[0m ×4 + 1.69sINFOmove_groupOctomap cleared.[0m ×4 + 1.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048802 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074178 ms (missed cycles : 2).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675570 ms (missed cycles : 3).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1792756797.50588560 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1792756798.10634398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847691 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622277 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601990 ms (missed cycles : 2).[0m ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 127 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915785 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915785 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.835ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744020 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744020 ms (missed cycles : 2).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.925ms + 2.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.743ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920724 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413832 ms (missed cycles : 4).[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1792756871.46661186 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOstate_estimatorReceived a set_pose request (stamp: 1792756871484816306, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.63sINFOamclParticle filter update iteration stats: 1502 particles 811 points - 6.273ms + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792756872.09229231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.85sINFOmove_groupClearing octomap...[0m ×2 + 3.85sINFOmove_groupOctomap cleared.[0m ×2 + 3.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281281 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792756873.07245326 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726773 ms (missed cycles : 2).[0m ×2 + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.35sINFOamclInitializing particles from estimated pose and covariance + 5.35sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792756873.66253591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.806ms + 6.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792756874.67269802 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698055 ms (missed cycles : 2).[0m ×2 + 6.67sWARNINGlaunchuser 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 3 errors · 21 warnings · 540 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.88sINFOmove_groupClearing octomap...[0m ×4 + 0.88sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 1.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[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 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 seconds ×3 + 0.14sINFOobjective_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 + 0.16sINFOobjective_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: ""
×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: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 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 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.28sINFOros2_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: ""
+ 0.81sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.86sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 1.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.64sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.69sINFOmove_groupClearing octomap...[0m ×4 + 1.69sINFOmove_groupOctomap cleared.[0m ×4 + 1.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_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 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.17sINFOjoint_trajectory_controllerReceived new action goal + 7.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.17sINFOjoint_trajectory_controllerAccepted new action goal + 7.17sINFOros2_control_nodeAccepted new action goal[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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2).[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 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.08sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 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}\" /><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 + 1.08sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.08sINFOobjective_server_nodecaller: ×24 + 1.08sINFOobjective_server_nodetype: 0 ×24 + 1.08sINFOobjective_server_nodename: "" ×24 + 1.08sINFOobjective_server_nodeinstance_id: "" ×24 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_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 + 1.28sINFOobjective_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 + 1.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 1.96sINFOobjective_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: ""
+ 1.96sINFOobjective_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: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 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 + 2.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_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: ""
+ 2.78sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.65sINFOmove_groupClearing octomap...[0m ×4 + 3.65sINFOmove_groupOctomap cleared.[0m ×4 + 3.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 7.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.13sINFOobjective_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 + 7.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 errors · 21 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 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951497 ms (missed cycles : 2).[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 + 1.08sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.08sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 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}\" /><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 + 1.08sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.08sINFOobjective_server_nodecaller: ×22 + 1.08sINFOobjective_server_nodetype: 0 ×22 + 1.08sINFOobjective_server_nodename: "" ×22 + 1.08sINFOobjective_server_nodeinstance_id: "" ×22 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_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 + 1.28sINFOobjective_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 + 1.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 1.96sINFOobjective_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: ""
+ 1.96sINFOobjective_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: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 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 + 2.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_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: ""
+ 2.78sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 errors · 21 warnings · 730 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 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: ""
×3 + 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.15sINFOobjective_server_nodeobjective_name: "" ×10 + 0.15sINFOobjective_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 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.15sINFOobjective_server_nodecaller: ×24 + 0.15sINFOobjective_server_nodetype: 0 ×24 + 0.15sINFOobjective_server_nodename: "" ×24 + 0.15sINFOobjective_server_nodeinstance_id: "" ×24 + 0.15sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 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: ""
+ 0.84sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.84sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.84sINFOobjective_server_node</Control> ×16 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.84sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.84sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 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: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_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: ""
+ 1.65sINFOobjective_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 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 1.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.53sINFOmove_groupClearing octomap...[0m ×4 + 2.53sINFOmove_groupOctomap cleared.[0m ×4 + 2.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 errors · 21 warnings · 730 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 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: ""
×3 + 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.15sINFOobjective_server_nodeobjective_name: "" ×10 + 0.15sINFOobjective_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 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.15sINFOobjective_server_nodecaller: ×24 + 0.15sINFOobjective_server_nodetype: 0 ×24 + 0.15sINFOobjective_server_nodename: "" ×24 + 0.15sINFOobjective_server_nodeinstance_id: "" ×24 + 0.15sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 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: ""
+ 0.84sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.84sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.84sINFOobjective_server_node</Control> ×16 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.84sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.84sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 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: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_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: ""
+ 1.65sINFOobjective_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 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 1.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.53sINFOmove_groupClearing octomap...[0m ×4 + 2.53sINFOmove_groupOctomap cleared.[0m ×4 + 2.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 errors · 21 warnings · 730 info |
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756500.84845829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756500.93871427 seconds ×3 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106590 ms (missed cycles : 2).[0m ×2 + 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: ""
×3 + 0.15sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.15sINFOobjective_server_nodeobjective_name: "" ×10 + 0.15sINFOobjective_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 + 0.15sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.15sINFOobjective_server_nodecaller: ×24 + 0.15sINFOobjective_server_nodetype: 0 ×24 + 0.15sINFOobjective_server_nodename: "" ×24 + 0.15sINFOobjective_server_nodeinstance_id: "" ×24 + 0.15sINFOobjective_server_node ×52 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.04455328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.13819456 seconds ×3 + 0.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 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: ""
+ 0.84sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.84sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.84sINFOobjective_server_node</Control> ×16 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.84sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.84sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.84sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.88sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756501.73307729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756501.82757616 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: 1792756501.88539433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756501.94556093 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171048 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_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: ""
+ 1.65sINFOobjective_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 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 1.85sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.48sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.53sINFOmove_groupClearing octomap...[0m ×4 + 2.53sINFOmove_groupOctomap cleared.[0m ×4 + 2.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 5.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 errors · 18 warnings · 540 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.54319859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1792756502.63342476 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1792756502.70049715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1792756502.77067828 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.29sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.88sINFOmove_groupClearing octomap...[0m ×4 + 0.88sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 1.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 24 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509897 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509897 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425520 ms (missed cycles : 3).[0m ×2 + 0.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.30sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×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 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792756503.37109137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.34sINFOmove_groupClearing octomap...[0m ×4 + 0.35sINFOmove_groupOctomap cleared.[0m ×4 + 0.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.36sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792756503.39133620 seconds ×3 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.90sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792756503.98944402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792756504.05960631 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636426 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792756504.69640255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792756504.75658321 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980907 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792756505.45921397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792756505.47939515 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792756506.06597710 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792756506.21654677 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070417 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792756506.83750486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792756506.89766479 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850875 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1792756507.48778319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948717 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.83sINFOjoint_trajectory_controllerReceived new action goal + 5.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.83sINFOjoint_trajectory_controllerAccepted new action goal + 5.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635552 ms (missed cycles : 3).[0m ×2 | ||||