MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

16.4s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.6s	6 errors · 315 warnings · 1849 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/2026-10-29-01-30-03-405901-5d0de7e3fd48-7968 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 3.18sINFOstatic_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' + 3.18sINFOstatic_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' + 3.18sINFOstatic_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' + 3.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 3.24sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 3.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.29sINFOcontroller_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. + 3.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 3.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 3.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.33sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 3.33sINFOmap_serverCreating + 3.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 3.34sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 3.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.39sINFOcontroller_serverCreating controller server + 3.42sINFOlocal_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. + 3.42sINFOlocal_costmap.local_costmapCreating Costmap + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 3.46sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 3.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.47sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 3.48sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 3.49sINFOlifecycle_manager_localizationCreating + 3.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 3.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793237408340614325, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 3.51sINFOros2_control_node-13process started with pid [8133] ×2 + 3.51sINFOmove_group-25process started with pid [8191] ×2 + 3.51sINFOparameter_manager_node-26process started with pid [8192] ×2 + 3.51sINFOwaypoint_manager_node-27process started with pid [8193] ×2 + 3.51sINFOmove_joint_resampler_node-28process started with pid [8195] ×2 + 3.51sINFOmove_end_effector_resampler_node-29process started with pid [8198] ×2 + 3.51sINFOobjective_server_node_main-30process started with pid [8199] ×2 + 3.51sINFOcomponent_container_mt-31process started with pid [8200] ×2 + 3.51sINFOcomponent_container_mt-32process started with pid [8201] ×2 + 3.51sINFOexecute_objective_bridge-33process started with pid [8202] ×2 + 3.51sINFOui_teleop_bridge-34process started with pid [8203] ×2 + 3.51sINFOweb_bridge-35process started with pid [8211] ×2 + 3.51sINFOtf_visualization_relay-36process started with pid [8212] ×2 + 3.51sINFOjoint_state_visualization_relay-37process started with pid [8213] ×2 + 3.51sINFOtf2_web_republisher_node-38process started with pid [8214] ×2 + 3.51sINFOvideo_server-39process started with pid [8222] ×2 + 3.51sINFOweb_bridge_auth_proxy-40process started with pid [8242] ×2 + 3.51sINFOweb_video_auth_proxy-41process started with pid [8259] ×2 + 3.51sINFOcomponent_container_isolated-1process started with pid [8018] ×2 + 3.51sINFOcomponent_container_isolated-2process started with pid [8019] ×2 + 3.51sINFOstatic_transform_publisher-3process started with pid [8020] ×2 + 3.51sINFOodom_world_drift-4process started with pid [8021] ×2 + 3.51sINFOlidar_flattener.py-5process started with pid [8022] ×2 + 3.51sINFOstatic_transform_publisher-6process started with pid [8023] ×2 + 3.51sINFOstatic_transform_publisher-7process started with pid [8024] ×2 + 3.51sINFOscan_to_scan_filter_chain-8process started with pid [8025] ×2 + 3.51sINFOscan_to_scan_filter_chain-9process started with pid [8026] ×2 + 3.51sINFOrelay-10process started with pid [8130] ×2 + 3.51sINFOrelay-11process started with pid [8131] ×2 + 3.51sINFOfixed_lag_smoother_node-12process started with pid [8132] ×2 + 3.51sINFOros2-14process started with pid [8134] ×2 + 3.51sINFOros2-15process started with pid [8135] ×2 + 3.51sINFOros2-16process started with pid [8136] ×2 + 3.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.52sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 3.53sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 3.53sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 3.53sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 3.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 3.53sINFOros2-17process started with pid [8137] ×2 + 3.53sINFOros2-18process started with pid [8138] ×2 + 3.53sINFOros2-19process started with pid [8139] ×2 + 3.53sINFOros2-20process started with pid [8140] ×2 + 3.53sINFOros2-21process started with pid [8141] ×2 + 3.53sINFOros2-22process started with pid [8142] ×2 + 3.53sINFOros2-23process started with pid [8143] ×2 + 3.53sINFOros2-24process started with pid [8144] ×2 + 3.53sINFOmap_serverConfiguring + 3.55sINFOcontroller_managerupdate rate is 600 Hz + 3.55sINFOcontroller_managerOverruns handling is : enabled + 3.55sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.55sWARNcontroller_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. + 3.56sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 3.56sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 3.56sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 3.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 3.56sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 3.56sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 3.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 3.56sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 3.56sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 3.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 3.56sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 3.56sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 3.56sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 3.56sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.56sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 3.56sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.56sWARNros2_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 + 3.58sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 3.58sINFOamclConfiguring + 3.58sINFOsmoother_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. + 3.59sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 3.59sINFOmap_serverActivating + 3.59sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 3.62sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 3.62sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 3.63sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 3.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 3.64sINFOsmoother_serverCreating smoother server + 3.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272483 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272483 ms (missed cycles : 2).[0m ×2 + 3.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 3.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.69sINFOplanner_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. + 3.71sINFOlifecycle_manager_localizationServer map_server connected with bond. + 3.71sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 3.71sINFOamclActivating + 3.71sINFOamclSubscribed to initial_pose_topic: /initialpose + 3.71sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 3.73sINFOamclSubscribed to map_topic: /map + 3.73sINFOamclSubscribed to scan_topic: /scan_interleaved + 3.73sINFOamclCreated reinitialize_global_localization service + 3.74sINFOamclCreated request_nomotion_update service + 3.74sINFOrobot_state_publisherRobot initialized + 3.74sINFOcomponent_container_mtRobot initialized[0m ×2 + 3.75sINFOamclA new map was received + 3.75sINFOamclInitializing particle filter instance + 3.75sINFOcontroller_managerReceived robot description from topic. + 3.75sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 3.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 3.76sINFOplanner_serverCreating + 3.76sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 3.76sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 3.76sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 3.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 3.79sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 3.80sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 3.80sINFOvideo_server2026/10/29 01:30:08 INF MediaMTX v1.20.1, linux, amd64 ×2 + 3.81sINFOvideo_server2026/10/29 01:30:08 INF configuration loaded from /tmp/moveit-webrtc-7jb9aayj/mediamtx.yml ×2 + 3.81sINFOvideo_server2026/10/29 01:30:08 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 3.81sINFOvideo_server2026/10/29 01:30:08 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.81sINFOglobal_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. + 3.81sINFOglobal_costmap.global_costmapCreating Costmap + 3.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 3.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 3.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 3.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 3.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 3.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 3.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 3.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 3.88sINFObehavior_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. + 3.91sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 3.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 3.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 3.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 3.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 3.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.10sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.13sINFObt_navigatorCreating + 4.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.19sWARNlaser_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. + 4.19sWARNscan_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 + 4.20sWARNlaser_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. + 4.20sINFOwaypoint_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. + 4.22sINFOwaypoint_followerCreating + 4.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.23sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.23sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 4.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.24sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 4.24sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.29sINFOvelocity_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. + 4.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.37sINFOlifecycle_manager_navigationCreating + 4.40sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.44sINFOweb_video_auth_proxy2026-10-29 01:30:09,286 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 4.45sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.45sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.45sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.45sINFOcontroller_serverConfiguring controller interface + 4.45sINFOcontroller_servergetting progress checker plugins.. + 4.45sINFOcontroller_servergetting goal checker plugins.. + 4.45sINFOcontroller_serverController frequency set to 20.0000Hz + 4.45sINFOlocal_costmap.local_costmapConfiguring + 4.45sINFOweb_video_auth_proxy2026-10-29 01:30:09,287 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 4.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.47sINFOweb_bridge_auth_proxy2026-10-29 01:30:09,311 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 4.48sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 4.50sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 4.55sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 4.55sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 4.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 4.58sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 4.58sINFOcontroller_serverController Server has progress_checker progress checkers available. + 4.58sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 4.58sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 4.59sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 4.61sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 4.62sINFOamclParticle filter initialization completed + 4.62sINFOamclInitializing particles from estimated pose and covariance + 4.62sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 4.62sINFOamclThe bond connection to the lifecycle manager is now fully formed + 4.62sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 4.62sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 4.63sINFOlifecycle_manager_localizationServer amcl connected with bond. + 4.63sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 4.63sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 4.64sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 4.64sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 4.64sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 4.64sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 4.65sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 4.65sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 4.66sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 4.66sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 4.68sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 4.69sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 4.69sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 4.70sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 4.70sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 4.71sINFOcontroller_serverOptimizer reset ×2 + 4.71sINFOcontroller_serverController Server has FollowPath controllers available. + 4.73sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 4.73sINFOsmoother_serverConfiguring smoother server + 4.75sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 4.76sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 4.77sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 4.77sINFOplanner_serverConfiguring + 4.77sINFOglobal_costmap.global_costmapConfiguring + 4.78sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 4.79sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 4.79sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 4.79sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 4.80sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 4.81sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 4.81sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 4.82sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 4.84sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 4.84sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 4.84sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 4.85sINFOplanner_serverPlanner Server has GridBased planners available. + 4.86sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 4.87sINFObehavior_serverConfiguring + 4.87sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 4.87sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 4.88sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 4.88sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 4.89sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 4.89sINFObehavior_serverConfiguring spin + 4.91sINFObehavior_serverConfiguring backup + 4.92sINFObehavior_serverConfiguring drive_on_heading + 4.93sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.456939 seconds + 4.93sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 4.93sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 4.93sINFOmove_groupLoaded robot model in 0.456939 seconds[0m ×2 + 4.93sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 4.93sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 4.94sINFObehavior_serverConfiguring assisted_teleop + 4.95sINFObehavior_serverConfiguring wait + 4.96sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 4.96sINFObt_navigatorConfiguring + 4.96sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770762 ms (missed cycles : 2). + 4.97sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 4.97sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770762 ms (missed cycles : 2).[0m ×2 + 4.97sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 4.97sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 4.99sWARNbt_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 + 5.00sINFOros2_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 + 5.01sINFOros2_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 + 5.14sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.17sINFOwaypoint_manager_nodeLoaded robot model in 0.287254 seconds[0m ×2 + 5.17sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 5.17sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.23sWARNmove_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. + 5.23sWARNmove_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 + 5.23sWARNmove_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. + 5.23sWARNmove_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 + 5.24sWARNmove_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. + 5.24sWARNmove_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 + 5.24sWARNmove_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. + 5.24sWARNmove_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 + 5.24sWARNmove_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. + 5.24sWARNmove_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 + 5.24sWARNmove_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. + 5.25sWARNmove_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 + 5.25sWARNmove_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. + 5.25sWARNmove_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 + 5.25sWARNmove_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. + 5.25sWARNmove_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 + 5.25sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.26sINFOwaypoint_followerConfiguring + 5.26sWARNmove_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. + 5.26sWARNmove_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 + 5.26sWARNmove_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. + 5.26sWARNmove_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 + 5.32sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 5.32sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 5.32sINFOvelocity_smootherConfiguring velocity smoother + 5.35sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 5.35sINFOcontroller_serverActivating + 5.35sINFOlocal_costmap.local_costmapActivating + 5.35sINFOlocal_costmap.local_costmapChecking transform + 5.35sINFOlocal_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 ×2 + 5.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.51sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.51sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.51sWARNwaypoint_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 + 5.51sWARNwaypoint_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. + 5.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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. + 5.52sWARNwaypoint_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 + 5.52sWARNwaypoint_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 + 5.53sWARNwaypoint_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. + 5.53sWARNwaypoint_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. + 5.53sWARNwaypoint_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 + 5.53sWARNwaypoint_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. + 5.53sWARNwaypoint_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. + 5.53sWARNwaypoint_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 + 5.53sWARNwaypoint_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 + 5.53sWARNwaypoint_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 + 5.60sINFOmove_group[2026-10-29 01:30:10.446] [moveit_pro_license] [info] ×2 + 5.60sINFOmove_group************************************************* ×4 + 5.60sINFOmove_group* MoveIt Pro License ×2 + 5.60sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.66sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 5.66sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 5.66sINFOros2_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 + 5.67sWARNros2_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 + 5.67sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 5.67sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.67sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 5.67sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 5.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.67sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 5.67sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 5.67sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.67sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.67sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 5.67sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.67sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.67sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 5.67sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 5.67sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 5.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.67sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.67sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.67sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.67sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.67sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.71sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 5.71sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 5.71sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 5.71sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 5.71sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 5.72sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 5.72sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 5.72sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 5.75sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 5.75sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 5.76sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 5.76sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 5.77sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 5.77sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 5.77sINFOcontroller_managerSuccessfully switched controllers! ×21 + 5.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 5.77sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 5.78sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 5.79sINFOwaypoint_manager_node[2026-10-29 01:30:10.640] [moveit_pro_license] [info] ×2 + 5.79sINFOwaypoint_manager_node************************************************* ×4 + 5.79sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 5.79sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.87sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 5.87sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 5.92sINFOros2_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 + 5.92sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.92sWARNros2_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 + 5.93sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 5.93sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 5.93sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 5.93sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 5.93sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 5.93sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 5.93sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 5.93sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 5.93sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 5.93sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 5.93sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 5.93sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 5.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 5.94sINFOmove_groupStarting planning scene monitor[0m ×2 + 5.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 5.94sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 5.94sINFOmove_groupListening to '/planning_scene'[0m ×2 + 5.94sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 5.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 5.94sINFOmove_groupListening to 'collision_object'[0m ×2 + 5.94sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 5.94sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723351 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723351 ms (missed cycles : 4).[0m ×2 + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 6.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 6.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.01sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 6.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 6.04sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 6.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 6.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 6.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 6.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 6.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 6.05sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 6.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 6.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 6.07sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 6.07sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 6.08sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 6.08sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 6.08sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 6.08sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 6.08sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 6.08sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 6.08sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 6.08sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 6.08sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 6.08sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 6.09sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 6.09sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 6.09sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 6.09sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 6.09sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 6.09sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 6.10sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 6.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 6.10sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 6.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.10sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 6.10sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 6.10sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 6.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 6.10sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 6.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 6.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 6.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 6.11sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 6.12sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.12sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 6.16sINFOros2-15process has finished cleanly [pid 8135] ×2 + 6.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.18sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.19sINFOforce_torque_sensor_broadcasterconfigure successful + 6.19sINFOros2_control_nodeconfigure successful[0m ×6 + 6.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.19sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.19sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.27sWARNcomponent_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 + 6.30sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.30sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.30sINFOobjective_server_node[2026-10-29 01:30:11.148] [moveit_pro_license] [info] ×2 + 6.30sINFOobjective_server_node************************************************* ×4 + 6.30sINFOobjective_server_node* MoveIt Pro License ×2 + 6.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.32sINFOstreaming_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) + 6.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.32sINFOcomponent_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 + 6.32sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 6.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 6.35sINFOlocal_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 + 6.37sINFOobjective_server_nodeLoaded robot model in 0.0234558 seconds[0m ×2 + 6.37sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 6.37sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.51sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 6.51sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 6.51sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 6.51sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 6.52sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 6.52sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 6.53sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.53sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.57sINFOros2-14process has finished cleanly [pid 8134] ×2 + 6.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 6.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.61sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 6.61sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 6.61sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 6.61sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 6.61sINFOplatform_velocity_controller_nav2configure successful + 6.66sWARNobjective_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. + 6.66sWARNobjective_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 + 6.66sWARNobjective_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. + 6.66sWARNobjective_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 + 6.66sWARNobjective_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. + 6.66sWARNobjective_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. + 6.66sWARNobjective_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 + 6.66sWARNobjective_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. + 6.66sWARNobjective_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 + 6.66sWARNobjective_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. + 6.66sWARNobjective_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 + 6.66sWARNobjective_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 + 6.66sWARNobjective_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. + 6.66sWARNobjective_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. + 6.66sWARNobjective_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 + 6.67sWARNobjective_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 + 6.67sWARNobjective_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. + 6.67sWARNobjective_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. + 6.67sWARNobjective_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 + 6.67sWARNobjective_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 + 6.69sINFOcomponent_container_mtLoaded robot model in 0.428074 seconds[0m ×2 + 6.70sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 6.70sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.73sINFOobjective_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 + 6.73sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 6.75sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 6.75sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 6.75sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 6.75sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 6.75sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 6.75sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 6.75sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 6.88sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.88sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 6.88sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.89sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 6.92sINFOros2-19process has finished cleanly [pid 8139] ×2 + 6.93sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 6.93sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 6.97sWARNplanning_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. + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.97sWARNplanning_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. + 6.97sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.98sWARNplanning_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. + 6.98sWARNcomponent_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 + 6.99sWARNplanning_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. + 6.99sWARNcomponent_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 + 6.99sWARNplanning_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. + 6.99sWARNcomponent_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 + 6.99sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 6.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 6.99sWARNplanning_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. + 6.99sWARNcomponent_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 + 6.99sWARNplanning_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. + 6.99sWARNcomponent_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 + 6.99sWARNplanning_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. + 6.99sWARNcomponent_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 + 6.99sWARNplanning_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. + 6.99sWARNcomponent_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 + 7.04sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 7.04sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 7.05sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 7.05sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 7.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386306 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386306 ms (missed cycles : 2).[0m ×2 + 7.21sINFOcomponent_container_mt[2026-10-29 01:30:12.056] [moveit_pro_license] [info] ×2 + 7.21sINFOcomponent_container_mt************************************************* ×4 + 7.21sINFOcomponent_container_mt* MoveIt Pro License ×2 + 7.21sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.30sWARNros2_control_nodeCamera render tick took 0.66 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 + 7.31sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.31sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.31sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.31sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.32sINFOmove_groupMoveGroup debug mode is ON + 7.32sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 7.33sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 7.33sINFOros2_control_node[2026-10-29 01:30:12.179] [info] Controller state will be published at 20 Hz. ×2 + 7.33sINFOros2_control_node[2026-10-29 01:30:12.180] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 7.36sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 7.36sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 7.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 7.37sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 7.37sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 7.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 7.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 7.48sINFOmove_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 ****************************************************** + 7.48sINFOmove_group ×8 + 7.48sINFOmove_group****************************************************** ×4 + 7.48sINFOmove_group* MoveGroup using: ×2 + 7.48sINFOmove_group* - apply_planning_scene_service ×2 + 7.48sINFOmove_group* - clear_octomap_service ×2 + 7.48sINFOmove_group* - get_group_urdf ×2 + 7.48sINFOmove_group* - load_geometry_from_file ×2 + 7.48sINFOmove_group* - get_planning_scene_service ×2 + 7.48sINFOmove_group* - kinematics_service ×2 + 7.48sINFOmove_group* - save_geometry_to_file ×2 + 7.48sINFOmove_group* - GetPlanningGroups ×2 + 7.48sINFOmove_group* - URDFPlanningSceneCapability ×2 + 7.48sINFOmove_group[0m ×2 + 7.48sINFOmove_group[92mYou can start planning now![0m ×2 + 7.51sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 7.51sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 7.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 7.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 7.65sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.65sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.65sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.65sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 7.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 7.66sINFOros2-24process has finished cleanly [pid 8144] ×2 + 7.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 7.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 7.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 7.76sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 7.76sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 7.76sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 7.76sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 7.97sINFOros2_control_node[2026-10-29 01:30:12.819] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 7.98sINFOros2_control_node[2026-10-29 01:30:12.821] [info] Controller state will be published at 10 Hz. ×2 + 7.98sINFOros2_control_node[2026-10-29 01:30:12.822] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107481 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107481 ms (missed cycles : 2).[0m ×2 + 8.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 8.29sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 8.31sINFOros2-22process has finished cleanly [pid 8142] ×2 + 8.31sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793237411.495 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 8.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.34sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.34sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.34sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 8.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 8.36sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 8.36sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.65sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.65sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.66sINFOros2-18process has finished cleanly [pid 8138] ×2 + 8.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 8.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 8.77sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.77sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.77sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.77sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.77sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.77sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.77sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.77sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.77sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.77sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.77sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.78sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.06sINFOros2-20process has finished cleanly [pid 8140] ×2 + 9.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 9.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 9.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120440 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120440 ms (missed cycles : 3).[0m ×2 + 9.38sINFOros2_control_node[2026-10-29 01:30:14.224] [info] Controller state will be published at 20 Hz. ×2 + 9.38sINFOros2_control_node[2026-10-29 01:30:14.225] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 9.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 9.71sINFOros2-23process has finished cleanly [pid 8143] ×2 + 9.73sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.73sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.73sINFOplatform_velocity_controllerconfigure successful + 9.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.75sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.75sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 10.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.03sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 10.03sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 10.07sINFOros2-17process has finished cleanly [pid 8137] ×2 + 10.08sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.08sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.08sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.08sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909880 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909880 ms (missed cycles : 3).[0m ×2 + 10.90sINFOros2_control_node[2026-10-29 01:30:15.750] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.91sINFOros2_control_node[2026-10-29 01:30:15.751] [info] Controller state will be published at 10 Hz. ×2 + 10.91sINFOros2_control_node[2026-10-29 01:30:15.753] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.02sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793237414.649 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.22sINFOros2-21process has finished cleanly [pid 8141] ×2 + 11.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.24sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh + 11.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kdgey47d --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_i930h8u6 --params-file /tmp/launch_params_lsu4eegh [0m ×2 + 11.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687344 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687344 ms (missed cycles : 3).[0m ×2 + 11.35sINFOlocal_costmap.local_costmapstart + 11.45sWARNcontroller_serverParameter controller_server.verbose not found + 11.45sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.56sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 11.56sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 11.56sINFOsmoother_serverActivating + 11.56sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 11.61sINFOros2-16process has finished cleanly [pid 8136] ×2 + 11.67sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 15.270ms + 11.67sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 11.67sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 11.67sINFOplanner_serverActivating + 11.67sINFOglobal_costmap.global_costmapActivating + 11.67sINFOglobal_costmap.global_costmapChecking transform + 11.67sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1793237416.473850, but only time 1793237417.292681 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.75sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793237416.078 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.17sINFOglobal_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 1793237416.983865 but the earliest data is at time 1793237417.292681, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.45sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730365 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730365 ms (missed cycles : 2).[0m ×2 + 12.67sINFOglobal_costmap.global_costmapstart + 13.52sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646769 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646769 ms (missed cycles : 2).[0m ×2 + 13.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 13.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 13.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 13.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 13.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 13.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 13.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 13.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 13.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 13.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 13.72sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.72sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.83sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.83sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.83sINFObehavior_serverActivating + 13.83sINFObehavior_serverActivating spin + 13.83sINFObehavior_serverActivating backup + 13.83sINFObehavior_serverActivating drive_on_heading + 13.83sINFObehavior_serverActivating assisted_teleop + 13.83sINFObehavior_serverActivating wait + 13.83sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.93sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.93sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.93sINFObt_navigatorActivating + 13.99sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.10sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.10sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.10sINFOwaypoint_followerActivating + 14.10sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.20sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.20sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.20sINFOvelocity_smootherActivating + 14.20sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.31sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.31sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.31sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798889 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798889 ms (missed cycles : 2).[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119541 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119541 ms (missed cycles : 2).[0m ×2 + 15.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2).[0m ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2).[0m ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2).[0m ×2 + 19.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 19.27sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 19.27sINFOobjective_server_nodeobjective_name: "" ×12 + 19.27sINFOobjective_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 + 19.27sINFOobjective_server_node ×58 + 19.27sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 19.27sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 19.27sINFOobjective_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 + 19.27sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 19.27sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 19.27sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 19.27sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 19.27sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 19.27sINFOobjective_server_node</Control> ×24 + 19.27sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 19.27sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 19.27sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 19.27sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 19.27sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 19.27sINFOobjective_server_nodeparameter_overrides: [] ×16 + 19.27sINFOobjective_server_nodecaller: ×16 + 19.27sINFOobjective_server_nodetype: 0 ×16 + 19.27sINFOobjective_server_nodename: "" ×16 + 19.27sINFOobjective_server_nodeinstance_id: "" ×16 + 19.30sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 19.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 19.44sINFOobjective_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 + 19.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.53sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 20.07sINFOobjective_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: "" + 20.08sINFOobjective_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=\"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 + 20.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 20.18sINFOobjective_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 + 20.23sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 20.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 20.84sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 20.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 21.01sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 21.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 21.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 21.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 21.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 21.67sINFOmove_groupClearing octomap...[0m ×2 + 21.67sINFOmove_groupOctomap cleared.[0m ×2 + 21.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 21.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 21.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 22.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.22sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 22.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.26sINFOvacuum_gripperReceived & accepted new action goal + 22.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 22.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3
✓ passed	—	placed	0.8s	6 errors · 21 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_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: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 2.51sINFOobjective_server_nodeobjective_name: "" ×12 + 2.51sINFOobjective_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 + 2.51sINFOobjective_server_node ×60 + 2.51sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.51sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.51sINFOobjective_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 + 2.51sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.51sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.51sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.51sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.51sINFOobjective_server_node</Control> ×24 + 2.51sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.51sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.51sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.51sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×18 + 2.51sINFOobjective_server_nodecaller: ×18 + 2.51sINFOobjective_server_nodetype: 0 ×18 + 2.51sINFOobjective_server_nodename: "" ×18 + 2.51sINFOobjective_server_nodeinstance_id: "" ×18 + 2.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 2.68sINFOobjective_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=\"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 + 2.68sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.35sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 3.43sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 4.09sINFOobjective_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: "" + 4.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.91sINFOmove_groupClearing octomap...[0m ×2 + 4.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2
✓ passed	—	release_fails	0.8s	6 errors · 21 warnings · 830 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2).[0m ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×22 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×24 + 0.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×44 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×48 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×24 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×24 + 0.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.44sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.44sINFOobjective_server_nodeobjective_name: "" ×12 + 1.44sINFOobjective_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 + 1.44sINFOobjective_server_node ×66 + 1.44sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.44sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.44sINFOobjective_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 + 1.44sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.44sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.44sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.44sINFOobjective_server_node</Control> ×24 + 1.44sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.44sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.44sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.44sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.44sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.44sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.44sINFOobjective_server_nodecaller: ×24 + 1.44sINFOobjective_server_nodetype: 0 ×24 + 1.44sINFOobjective_server_nodename: "" ×24 + 1.44sINFOobjective_server_nodeinstance_id: "" ×24 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 1.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 1.61sINFOobjective_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 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_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: "" + 2.25sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 2.36sINFOobjective_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 + 2.41sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 3.02sINFOobjective_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 + 3.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 3.19sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.84sINFOmove_groupClearing octomap...[0m ×4 + 3.84sINFOmove_groupOctomap cleared.[0m ×4 + 3.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 6.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 7.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.24sINFOobjective_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 + 7.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3
✓ passed	—	hover_fails	0.8s	6 errors · 24 warnings · 714 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 1.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_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: "" + 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 2.51sINFOobjective_server_nodeobjective_name: "" ×12 + 2.51sINFOobjective_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 + 2.51sINFOobjective_server_node ×64 + 2.51sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.51sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.51sINFOobjective_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 + 2.51sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.51sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.51sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.51sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.51sINFOobjective_server_node</Control> ×24 + 2.51sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.51sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.51sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.51sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.51sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×22 + 2.51sINFOobjective_server_nodecaller: ×22 + 2.51sINFOobjective_server_nodetype: 0 ×22 + 2.51sINFOobjective_server_nodename: "" ×22 + 2.51sINFOobjective_server_nodeinstance_id: "" ×22 + 2.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 2.68sINFOobjective_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=\"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 + 2.68sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.35sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 3.43sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 3.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 4.09sINFOobjective_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: "" + 4.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.88sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.91sINFOmove_groupClearing octomap...[0m ×2 + 4.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.92sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 7.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 7.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	6 errors · 21 warnings · 590 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119541 ms (missed cycles : 2).[0m ×2 + 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971017 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510509 ms (missed cycles : 2).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.54sINFOobjective_server_nodeobjective_name: "" ×12 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_node ×58 + 3.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.54sINFOobjective_server_node</Control> ×24 + 3.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.54sINFOobjective_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 + 3.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.55sINFOobjective_server_nodecaller: ×16 + 3.55sINFOobjective_server_nodetype: 0 ×16 + 3.55sINFOobjective_server_nodename: "" ×16 + 3.55sINFOobjective_server_nodeinstance_id: "" ×16 + 3.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 3.71sINFOobjective_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 + 3.71sINFOobjective_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 + 3.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 4.35sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><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 + 4.38sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 4.46sINFOobjective_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 + 4.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 5.12sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 5.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.95sINFOmove_groupClearing octomap...[0m ×2 + 5.95sINFOmove_groupOctomap cleared.[0m ×2 + 5.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOvacuum_gripperReceived & accepted new action goal + 6.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3

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

15 pass27 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	70.9s	3 errors · 231 warnings · 297 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029840 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029840 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.066ms ×2 + 1.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.071ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460285 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460285 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.658ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730207 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730207 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.430ms + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOjoint_trajectory_controllerGot request to cancel goal + 2.70sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.70sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.70sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.73sERRORobjective_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: 1793237637.12638426 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOstate_estimatorReceived a set_pose request (stamp: 1793237637144449147, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-0.74, 3.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.90sWARNlocal_costmap.local_costmapSensor origin at (-1.64, 3.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.364ms + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sINFOamclParticle filter update iteration stats: 4735 particles 811 points - 7.398ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753957 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753957 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793237637.70403051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176839 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176839 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.85sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.85sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.85sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×10 + 4.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.97sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.97sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570407, y=-0.0158044, yaw=-0.0181568 + 5.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.887ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171074 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171074 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351735 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351735 ms (missed cycles : 3).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.139ms + 7.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.621ms + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377894 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377894 ms (missed cycles : 3).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.482ms + 8.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.874ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251419 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251419 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.021ms + 9.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.913ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672400 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672400 ms (missed cycles : 3).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.059ms + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294323 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294323 ms (missed cycles : 2).[0m ×2 + 11.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.099ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.218ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793630 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793630 ms (missed cycles : 3).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.908ms + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.674ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144060 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144060 ms (missed cycles : 2).[0m ×2 + 13.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.241ms + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.243ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368327 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368327 ms (missed cycles : 2).[0m ×2 + 14.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.478ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.180ms + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443232 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443232 ms (missed cycles : 3).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.173ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025984 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025984 ms (missed cycles : 3).[0m ×2 + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.937ms + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.867ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127064 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127064 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.891ms + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.217ms + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029991 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029991 ms (missed cycles : 3).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.864ms + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.814ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778342 ms (missed cycles : 2). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778342 ms (missed cycles : 2).[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.695ms + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709332 ms (missed cycles : 3). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709332 ms (missed cycles : 3).[0m ×2 + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.242ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892602 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892602 ms (missed cycles : 2).[0m ×2 + 22.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.579ms + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.945ms + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534198 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534198 ms (missed cycles : 3).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.745ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.005ms + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319557 ms (missed cycles : 2). + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319557 ms (missed cycles : 2).[0m ×2 + 24.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.563ms + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728924 ms (missed cycles : 3). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728924 ms (missed cycles : 3).[0m ×2 + 25.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.363ms + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.520ms + 26.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739537 ms (missed cycles : 2). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739537 ms (missed cycles : 2).[0m ×2 + 26.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.840ms + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715249 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715249 ms (missed cycles : 2).[0m ×2 + 27.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.026ms + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.051ms + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114955 ms (missed cycles : 3). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114955 ms (missed cycles : 3).[0m ×2 + 29.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.963ms + 29.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100941 ms (missed cycles : 2). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100941 ms (missed cycles : 2).[0m ×2 + 29.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.633ms ×2 + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.809ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820603 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820603 ms (missed cycles : 2).[0m ×2 + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.384ms + 31.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.235ms + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755816 ms (missed cycles : 2). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755816 ms (missed cycles : 2).[0m ×2 + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.933ms + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491632 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491632 ms (missed cycles : 3).[0m ×2 + 33.22sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.22sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.81sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136688 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136688 ms (missed cycles : 2).[0m ×2 + 34.50sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434869 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434869 ms (missed cycles : 3).[0m ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463875 ms (missed cycles : 3). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463875 ms (missed cycles : 3).[0m ×2 + 36.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.952ms + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198878 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198878 ms (missed cycles : 2).[0m ×2 + 37.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.733ms + 37.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.153ms + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866773 ms (missed cycles : 2). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866773 ms (missed cycles : 2).[0m ×2 + 38.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.691ms + 38.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.258ms + 38.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.681ms + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835004 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835004 ms (missed cycles : 2).[0m ×2 + 39.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.843ms + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899462 ms (missed cycles : 2). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899462 ms (missed cycles : 2).[0m ×2 + 40.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.313ms + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097525 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097525 ms (missed cycles : 2).[0m ×2 + 42.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347976 ms (missed cycles : 3). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347976 ms (missed cycles : 3).[0m ×2 + 42.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.866ms + 42.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.799ms + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330295 ms (missed cycles : 3). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330295 ms (missed cycles : 3).[0m ×2 + 43.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.930ms + 44.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.298ms + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562292 ms (missed cycles : 3). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562292 ms (missed cycles : 3).[0m ×2 + 44.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.266ms + 44.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.732ms + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727509 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727509 ms (missed cycles : 3).[0m ×2 + 45.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.665ms + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107154 ms (missed cycles : 2). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107154 ms (missed cycles : 2).[0m ×2 + 46.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.305ms + 46.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.178ms + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936915 ms (missed cycles : 2). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936915 ms (missed cycles : 2).[0m ×2 + 47.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.615ms + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160707 ms (missed cycles : 2). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160707 ms (missed cycles : 2).[0m ×2 + 48.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.022ms + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556033 ms (missed cycles : 2). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556033 ms (missed cycles : 2).[0m ×2 + 49.79sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887819 ms (missed cycles : 2). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887819 ms (missed cycles : 2).[0m ×2 + 50.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.619ms + 51.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712885 ms (missed cycles : 2). + 51.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712885 ms (missed cycles : 2).[0m ×2 + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429519 ms (missed cycles : 3). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429519 ms (missed cycles : 3).[0m ×2 + 53.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.678ms + 53.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568232 ms (missed cycles : 3). + 53.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568232 ms (missed cycles : 3).[0m ×2 + 53.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.460ms + 54.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.296ms + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720848 ms (missed cycles : 2). + 54.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720848 ms (missed cycles : 2).[0m ×2 + 55.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.868ms + 55.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.740ms + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926602 ms (missed cycles : 2). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926602 ms (missed cycles : 2).[0m ×2 + 56.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.320ms + 56.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457782 ms (missed cycles : 3). + 56.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457782 ms (missed cycles : 3).[0m ×2 + 57.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.430ms + 57.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.036ms + 58.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.043ms + 58.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676089 ms (missed cycles : 3). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676089 ms (missed cycles : 3).[0m ×2 + 58.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.833ms + 59.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.628ms + 59.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858577 ms (missed cycles : 2). + 59.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858577 ms (missed cycles : 2).[0m ×2 + 59.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.578ms + 60.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351808 ms (missed cycles : 2). + 60.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351808 ms (missed cycles : 2).[0m ×2 + 60.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.576ms + 61.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956571 ms (missed cycles : 2). + 61.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956571 ms (missed cycles : 2).[0m ×2 + 61.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.553ms + 61.99sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 62.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834358 ms (missed cycles : 2). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834358 ms (missed cycles : 2).[0m ×2 + 63.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196948 ms (missed cycles : 2). + 63.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196948 ms (missed cycles : 2).[0m ×2 + 64.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728762 ms (missed cycles : 2). + 64.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728762 ms (missed cycles : 2).[0m ×2 + 65.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.040ms + 65.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593229 ms (missed cycles : 2). + 65.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593229 ms (missed cycles : 2).[0m ×2 + 66.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.785ms + 66.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.684ms + 66.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746705 ms (missed cycles : 3). + 66.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746705 ms (missed cycles : 3).[0m ×2 + 67.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.965ms + 67.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.612ms + 67.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.084ms + 67.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900045 ms (missed cycles : 3). + 67.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900045 ms (missed cycles : 3).[0m ×2 + 68.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 68.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.179ms + 68.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523784 ms (missed cycles : 3). + 68.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523784 ms (missed cycles : 3).[0m ×2 + 68.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.240ms + 69.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.328ms + 69.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.159ms + 69.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589702 ms (missed cycles : 2). + 69.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589702 ms (missed cycles : 2).[0m ×2 + 70.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.870ms + 70.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.768ms + 70.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228285 ms (missed cycles : 2). + 70.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228285 ms (missed cycles : 2).[0m ×2 + 71.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.115ms + 72.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809534 ms (missed cycles : 3). + 72.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809534 ms (missed cycles : 3).[0m ×2 + 72.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.868ms + 73.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520807 ms (missed cycles : 3). + 73.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520807 ms (missed cycles : 3).[0m ×2 + 73.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793237708.05421376 seconds ×3 + 73.68sINFOstate_estimatorReceived a set_pose request (stamp: 1793237708066635727, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 73.70sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.33) is out of map bounds (-4.55, 7.60) to (0.43, 12.58). The costmap cannot raytrace for it. + 73.70sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.97) is out of map bounds (-4.55, 7.60) to (0.43, 12.58). The costmap cannot raytrace for it. + 73.80sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 73.80sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 73.94sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 5.939ms + 74.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 74.19sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 74.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793237708.62836003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 74.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701352 ms (missed cycles : 3). + 74.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701352 ms (missed cycles : 3).[0m ×2 + 75.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989187 ms (missed cycles : 2). + 75.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989187 ms (missed cycles : 2).[0m ×2 + 75.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 75.81sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 75.81sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547632, y=-0.0155574, yaw=-0.011238 + 75.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.957ms + 76.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996607 ms (missed cycles : 2). + 76.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996607 ms (missed cycles : 2).[0m ×2 + 77.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 77.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.3s	181 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.36sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.54sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.54sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2 + 6.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.296ms + 7.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.907ms + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267805 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267805 ms (missed cycles : 2).[0m ×2 + 8.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.251ms + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390944 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390944 ms (missed cycles : 3).[0m ×2 + 8.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.860ms + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.067ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809439 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809439 ms (missed cycles : 3).[0m ×2 + 9.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.879ms + 10.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.904ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803830 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803830 ms (missed cycles : 3).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.300ms + 11.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.949ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657474 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657474 ms (missed cycles : 3).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.082ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492308 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492308 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.147ms + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.008ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085974 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085974 ms (missed cycles : 3).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.481ms + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.950ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378680 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378680 ms (missed cycles : 3).[0m ×2 + 15.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.402ms + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.290ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316308 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316308 ms (missed cycles : 2).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.933ms + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219982 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219982 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.474ms + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.874ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332459 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332459 ms (missed cycles : 2).[0m ×2 + 18.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.395ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.602ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009208 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009208 ms (missed cycles : 2).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.966ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.590ms + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120285 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120285 ms (missed cycles : 2).[0m ×2 + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.151ms + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.210ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595283 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595283 ms (missed cycles : 3).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.516ms + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.461ms + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722796 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722796 ms (missed cycles : 3).[0m ×2 + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.758ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793369 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793369 ms (missed cycles : 2).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.500ms + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.216ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289627 ms (missed cycles : 2). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289627 ms (missed cycles : 2).[0m ×2 + 25.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.746ms + 26.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.865ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612664 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612664 ms (missed cycles : 2).[0m ×2 + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.717ms + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.740ms + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142294 ms (missed cycles : 2). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142294 ms (missed cycles : 2).[0m ×2 + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.528ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002554 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002554 ms (missed cycles : 2).[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.878ms + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.876ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294675 ms (missed cycles : 2). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294675 ms (missed cycles : 2).[0m ×2 + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.983ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.228ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199612 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199612 ms (missed cycles : 2).[0m ×2 + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.166ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.816ms + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247486 ms (missed cycles : 2). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247486 ms (missed cycles : 2).[0m ×2 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.199ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827176 ms (missed cycles : 2). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827176 ms (missed cycles : 2).[0m ×2 + 32.94sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 32.95sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876822 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876822 ms (missed cycles : 3).[0m ×2 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803116 ms (missed cycles : 2). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803116 ms (missed cycles : 2).[0m ×2 + 35.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.137ms + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460192 ms (missed cycles : 3). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460192 ms (missed cycles : 3).[0m ×2 + 36.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.327ms + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235042 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235042 ms (missed cycles : 2).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335576 ms (missed cycles : 3). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335576 ms (missed cycles : 3).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452081 ms (missed cycles : 2). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452081 ms (missed cycles : 2).[0m ×2 + 39.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.233ms + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089699 ms (missed cycles : 3). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089699 ms (missed cycles : 3).[0m ×2 + 40.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.020ms + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818398 ms (missed cycles : 3). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818398 ms (missed cycles : 3).[0m ×2 + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464606 ms (missed cycles : 3). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464606 ms (missed cycles : 3).[0m ×2 + 42.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.005ms + 43.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.449ms + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148677 ms (missed cycles : 3). + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148677 ms (missed cycles : 3).[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617651 ms (missed cycles : 3). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617651 ms (missed cycles : 3).[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311006 ms (missed cycles : 2). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311006 ms (missed cycles : 2).[0m ×2 + 46.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.402ms + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292014 ms (missed cycles : 2). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292014 ms (missed cycles : 2).[0m ×2 + 46.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.942ms + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765158 ms (missed cycles : 2). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765158 ms (missed cycles : 2).[0m ×2 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404491 ms (missed cycles : 2). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404491 ms (missed cycles : 2).[0m ×2 + 49.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275050 ms (missed cycles : 2). + 49.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275050 ms (missed cycles : 2).[0m ×2 + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 50.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.202ms + 50.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246122 ms (missed cycles : 2). + 50.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246122 ms (missed cycles : 2).[0m ×2 + 51.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559085 ms (missed cycles : 2). + 51.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559085 ms (missed cycles : 2).[0m ×2 + 52.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925485 ms (missed cycles : 2). + 52.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925485 ms (missed cycles : 2).[0m ×2 + 53.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.365ms + 53.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238830 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238830 ms (missed cycles : 2).[0m ×2 + 53.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.819ms + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993180 ms (missed cycles : 2). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993180 ms (missed cycles : 2).[0m ×2 + 56.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983977 ms (missed cycles : 3). + 56.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983977 ms (missed cycles : 3).[0m ×2 + 57.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970888 ms (missed cycles : 2). + 57.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970888 ms (missed cycles : 2).[0m ×2 + 57.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.035ms + 58.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730120 ms (missed cycles : 3). + 58.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730120 ms (missed cycles : 3).[0m ×2 + 58.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793237770.74498844 seconds ×3 + 58.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793237770758370964, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.89sWARNlocal_costmap.local_costmapSensor origin at (-3.01, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.89sWARNlocal_costmap.local_costmapSensor origin at (-3.91, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 59.06sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.872ms + 59.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902762 ms (missed cycles : 2). + 59.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902762 ms (missed cycles : 2).[0m ×2 + 59.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.27sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 59.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793237771.32345963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.60sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 59.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514616 ms (missed cycles : 3). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514616 ms (missed cycles : 3).[0m ×2 + 60.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 60.90sINFOamclInitializing particles from estimated pose and covariance + 60.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 60.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538393, y=-0.0162258, yaw=-0.0161864 + 60.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.317ms + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197171 ms (missed cycles : 2). + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197171 ms (missed cycles : 2).[0m ×2 + 62.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286491 ms (missed cycles : 2). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286491 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.2s	182 warnings · 242 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.597ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.540ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.507ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.855ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.631ms + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.294ms + 1.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.198ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575962 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575962 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.149ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.109ms + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.447ms + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.438ms + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.836ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831678 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831678 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793237479.32709050 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237479342815516, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sINFOamclParticle filter update iteration stats: 1491 particles 811 points - 4.362ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793237479.90311503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731811 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731811 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046555 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046555 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.79sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.79sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×6 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568824, y=-0.0164011, yaw=-0.0182526 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.591ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613065 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613065 ms (missed cycles : 3).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.846ms + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845247 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845247 ms (missed cycles : 2).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.013ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965322 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965322 ms (missed cycles : 2).[0m ×2 + 8.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.455ms + 8.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.703ms + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884568 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884568 ms (missed cycles : 2).[0m ×2 + 9.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.763ms + 9.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.106ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939690 ms (missed cycles : 3). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939690 ms (missed cycles : 3).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.808ms + 11.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.149ms + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591410 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591410 ms (missed cycles : 3).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.928ms + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.026ms + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410606 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410606 ms (missed cycles : 2).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.699ms + 13.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.017ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836841 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836841 ms (missed cycles : 2).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.478ms + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.879ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112778 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112778 ms (missed cycles : 2).[0m ×2 + 15.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.336ms + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688534 ms (missed cycles : 2). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688534 ms (missed cycles : 2).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.275ms + 16.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.070ms + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644663 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644663 ms (missed cycles : 3).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.022ms + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.490ms + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.942ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234415 ms (missed cycles : 3). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234415 ms (missed cycles : 3).[0m ×2 + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.829ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268732 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268732 ms (missed cycles : 2).[0m ×2 + 19.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.706ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.989ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930568 ms (missed cycles : 2). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930568 ms (missed cycles : 2).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.882ms + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.135ms + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913687 ms (missed cycles : 3). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913687 ms (missed cycles : 3).[0m ×2 + 21.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.457ms + 22.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.681ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685368 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685368 ms (missed cycles : 2).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.818ms + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.377ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781114 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781114 ms (missed cycles : 2).[0m ×2 + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.887ms + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084647 ms (missed cycles : 2). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084647 ms (missed cycles : 2).[0m ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.620ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.950ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954477 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954477 ms (missed cycles : 2).[0m ×2 + 25.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.679ms + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.689ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426270 ms (missed cycles : 3). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426270 ms (missed cycles : 3).[0m ×2 + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.421ms + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.340ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971195 ms (missed cycles : 3). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971195 ms (missed cycles : 3).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.159ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.743ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665295 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665295 ms (missed cycles : 2).[0m ×2 + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.183ms + 29.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.731ms + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312879 ms (missed cycles : 2). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312879 ms (missed cycles : 2).[0m ×2 + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.275ms + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.952ms + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337957 ms (missed cycles : 3). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337957 ms (missed cycles : 3).[0m ×2 + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.097ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090751 ms (missed cycles : 2). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090751 ms (missed cycles : 2).[0m ×2 + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.975ms + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746855 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746855 ms (missed cycles : 3).[0m ×2 + 33.20sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 33.22sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573980 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573980 ms (missed cycles : 2).[0m ×2 + 34.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.895ms + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242617 ms (missed cycles : 2). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242617 ms (missed cycles : 2).[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373640 ms (missed cycles : 3). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373640 ms (missed cycles : 3).[0m ×2 + 36.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.197ms + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309252 ms (missed cycles : 3). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309252 ms (missed cycles : 3).[0m ×2 + 37.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.067ms + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182180 ms (missed cycles : 2). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182180 ms (missed cycles : 2).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400071 ms (missed cycles : 2). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400071 ms (missed cycles : 2).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.208ms + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557298 ms (missed cycles : 3). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557298 ms (missed cycles : 3).[0m ×2 + 40.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.046ms + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598769 ms (missed cycles : 3). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598769 ms (missed cycles : 3).[0m ×2 + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940185 ms (missed cycles : 2). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940185 ms (missed cycles : 2).[0m ×2 + 42.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.068ms + 43.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.394ms + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756144 ms (missed cycles : 2). + 43.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756144 ms (missed cycles : 2).[0m ×2 + 44.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176268 ms (missed cycles : 2). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176268 ms (missed cycles : 2).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240816 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240816 ms (missed cycles : 2).[0m ×2 + 46.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.184ms + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029713 ms (missed cycles : 2). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029713 ms (missed cycles : 2).[0m ×2 + 47.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.852ms + 47.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425573 ms (missed cycles : 3). + 47.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425573 ms (missed cycles : 3).[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272016 ms (missed cycles : 2). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272016 ms (missed cycles : 2).[0m ×2 + 49.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.188ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844198 ms (missed cycles : 2). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844198 ms (missed cycles : 2).[0m ×2 + 50.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.123ms + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018525 ms (missed cycles : 2). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018525 ms (missed cycles : 2).[0m ×2 + 52.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269929 ms (missed cycles : 2). + 52.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269929 ms (missed cycles : 2).[0m ×2 + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316322 ms (missed cycles : 2). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316322 ms (missed cycles : 2).[0m ×2 + 53.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.155ms + 54.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041313 ms (missed cycles : 3). + 54.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041313 ms (missed cycles : 3).[0m ×2 + 54.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.599ms + 55.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193084 ms (missed cycles : 2). + 55.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193084 ms (missed cycles : 2).[0m ×2 + 56.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 56.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 57.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 57.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 57.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 58.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 58.98sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.99sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 58.99sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 59.09sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 59.09sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 59.19sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.19sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 59.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.50sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 59.54sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.83sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 60.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 60.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 60.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 61.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 61.12sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 61.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 61.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 61.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 61.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.1s	179 warnings · 242 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.127ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.096ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237573.22696614 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1793237573244061921, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.591ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237573.80480623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.03sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.03sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.03sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568393, y=-0.0165617, yaw=-0.018278 + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.427ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2).[0m ×2 + 7.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.062ms + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903085 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903085 ms (missed cycles : 2).[0m ×2 + 7.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.383ms + 8.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.229ms + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751503 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751503 ms (missed cycles : 2).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 9.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.000ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103017 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103017 ms (missed cycles : 2).[0m ×2 + 10.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.088ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.906ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159377 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159377 ms (missed cycles : 2).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.428ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695130 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695130 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.007ms + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.993ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014503 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014503 ms (missed cycles : 2).[0m ×2 + 13.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.255ms + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.276ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422479 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422479 ms (missed cycles : 3).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.970ms + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.253ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763282 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763282 ms (missed cycles : 2).[0m ×2 + 15.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.732ms + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.037ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804689 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804689 ms (missed cycles : 2).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.223ms + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784248 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784248 ms (missed cycles : 2).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.417ms + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.791ms + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721940 ms (missed cycles : 3). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721940 ms (missed cycles : 3).[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.832ms + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.914ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970092 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970092 ms (missed cycles : 2).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.794ms + 20.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.550ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201352 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201352 ms (missed cycles : 2).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.539ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897095 ms (missed cycles : 3). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897095 ms (missed cycles : 3).[0m ×2 + 21.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.206ms + 21.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.308ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236461 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236461 ms (missed cycles : 3).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.432ms + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.214ms + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747737 ms (missed cycles : 2). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747737 ms (missed cycles : 2).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.458ms + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.693ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307314 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307314 ms (missed cycles : 2).[0m ×2 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.986ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162778 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162778 ms (missed cycles : 2).[0m ×2 + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.645ms + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.237ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650524 ms (missed cycles : 3). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650524 ms (missed cycles : 3).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.829ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.505ms + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470095 ms (missed cycles : 3). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470095 ms (missed cycles : 3).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.422ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.765ms + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200253 ms (missed cycles : 2). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200253 ms (missed cycles : 2).[0m ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.263ms + 29.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.379ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356641 ms (missed cycles : 3). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356641 ms (missed cycles : 3).[0m ×2 + 30.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.724ms + 30.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.218ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012555 ms (missed cycles : 2). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012555 ms (missed cycles : 2).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.306ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200422 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200422 ms (missed cycles : 2).[0m ×2 + 32.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.016ms + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872772 ms (missed cycles : 2). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872772 ms (missed cycles : 2).[0m ×2 + 33.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.078ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843874 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843874 ms (missed cycles : 3).[0m ×2 + 34.82sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015621 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015621 ms (missed cycles : 3).[0m ×2 + 35.45sINFOobjective_server_nodePlanning for 45 path waypoints. ×3 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675115 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675115 ms (missed cycles : 2).[0m ×2 + 37.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.894ms + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997531 ms (missed cycles : 3). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997531 ms (missed cycles : 3).[0m ×2 + 37.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.393ms + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691313 ms (missed cycles : 2). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691313 ms (missed cycles : 2).[0m ×2 + 38.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 38.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.567ms ×2 + 39.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.397ms + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188548 ms (missed cycles : 2). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188548 ms (missed cycles : 2).[0m ×2 + 39.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.677ms + 40.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.638ms + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075684 ms (missed cycles : 2). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075684 ms (missed cycles : 2).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415394 ms (missed cycles : 2). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415394 ms (missed cycles : 2).[0m ×2 + 42.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159291 ms (missed cycles : 3). + 42.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159291 ms (missed cycles : 3).[0m ×2 + 43.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.549ms + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779251 ms (missed cycles : 3). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779251 ms (missed cycles : 3).[0m ×2 + 43.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.484ms + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275174 ms (missed cycles : 2). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275174 ms (missed cycles : 2).[0m ×2 + 44.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.414ms + 45.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.050ms + 45.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013133 ms (missed cycles : 3). + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013133 ms (missed cycles : 3).[0m ×2 + 45.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.124ms + 46.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.935ms + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014080 ms (missed cycles : 3). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014080 ms (missed cycles : 3).[0m ×2 + 46.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.209ms + 47.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807124 ms (missed cycles : 3). + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807124 ms (missed cycles : 3).[0m ×2 + 47.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.133ms + 48.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.539ms + 48.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569056 ms (missed cycles : 3). + 48.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569056 ms (missed cycles : 3).[0m ×2 + 48.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.074ms + 49.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.795ms + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100024 ms (missed cycles : 2). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100024 ms (missed cycles : 2).[0m ×2 + 50.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.626ms + 50.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044079 ms (missed cycles : 2). + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044079 ms (missed cycles : 2).[0m ×2 + 51.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.715ms + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450863 ms (missed cycles : 2). + 51.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450863 ms (missed cycles : 2).[0m ×2 + 52.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.711ms + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835923 ms (missed cycles : 2). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835923 ms (missed cycles : 2).[0m ×2 + 53.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.958ms + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807965 ms (missed cycles : 2). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807965 ms (missed cycles : 2).[0m ×2 + 55.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.471ms + 55.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860728 ms (missed cycles : 2). + 55.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860728 ms (missed cycles : 2).[0m ×2 + 55.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793237626.30498147 seconds ×3 + 55.97sINFOstate_estimatorReceived a set_pose request (stamp: 1793237626326716542, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 56.14sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 10.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 56.14sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 56.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908274 ms (missed cycles : 2). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908274 ms (missed cycles : 2).[0m ×2 + 56.28sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.138ms + 56.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793237626.89542651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.83sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865456 ms (missed cycles : 2). + 57.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865456 ms (missed cycles : 2).[0m ×2 + 58.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 58.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 58.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 58.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.811ms + 58.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922937 ms (missed cycles : 3). + 58.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922937 ms (missed cycles : 3).[0m ×2 + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854926 ms (missed cycles : 3). + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854926 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	144 warnings · 404 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.65sINFOobjective_server_nodecaller: ×12 + 0.65sINFOobjective_server_nodetype: 0 ×12 + 0.65sINFOobjective_server_nodename: "" ×12 + 0.65sINFOobjective_server_nodeinstance_id: "" ×12 + 0.65sINFOobjective_server_node ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOvacuum_gripperReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_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 + 2.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2 + 6.96sINFOamclParticle filter update iteration stats: 1054 particles 811 points - 7.812ms + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844288 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844288 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385561 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385561 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949208 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949208 ms (missed cycles : 2).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950233 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950233 ms (missed cycles : 2).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792514 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792514 ms (missed cycles : 2).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891949 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891949 ms (missed cycles : 2).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912384 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912384 ms (missed cycles : 2).[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868255 ms (missed cycles : 2). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868255 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808583 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808583 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444696 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444696 ms (missed cycles : 2).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455434 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455434 ms (missed cycles : 2).[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151547 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151547 ms (missed cycles : 2).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.509ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533933 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533933 ms (missed cycles : 3).[0m ×2 + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443180 ms (missed cycles : 3). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443180 ms (missed cycles : 3).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689633 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689633 ms (missed cycles : 2).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914448 ms (missed cycles : 2). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914448 ms (missed cycles : 2).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834318 ms (missed cycles : 2). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834318 ms (missed cycles : 2).[0m ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845768 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845768 ms (missed cycles : 2).[0m ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442220 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442220 ms (missed cycles : 3).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282962 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282962 ms (missed cycles : 2).[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549775 ms (missed cycles : 3). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549775 ms (missed cycles : 3).[0m ×2 + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433288 ms (missed cycles : 3). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433288 ms (missed cycles : 3).[0m ×2 + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220322 ms (missed cycles : 2). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220322 ms (missed cycles : 2).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423344 ms (missed cycles : 3). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423344 ms (missed cycles : 3).[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338644 ms (missed cycles : 2). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338644 ms (missed cycles : 2).[0m ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464995 ms (missed cycles : 2). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464995 ms (missed cycles : 2).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290811 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290811 ms (missed cycles : 2).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748510 ms (missed cycles : 3). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748510 ms (missed cycles : 3).[0m ×2 + 37.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.981ms + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623295 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623295 ms (missed cycles : 2).[0m ×2 + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824489 ms (missed cycles : 2). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824489 ms (missed cycles : 2).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397848 ms (missed cycles : 2). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397848 ms (missed cycles : 2).[0m ×2 + 41.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181307 ms (missed cycles : 2). + 41.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181307 ms (missed cycles : 2).[0m ×2 + 42.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037709 ms (missed cycles : 2). + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037709 ms (missed cycles : 2).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505651 ms (missed cycles : 3). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505651 ms (missed cycles : 3).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2).[0m ×2 + 46.33sINFOjoint_trajectory_controllerGoal reached, success! + 46.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237473.54382253 seconds ×3 + 46.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.42sINFOstate_estimatorReceived a set_pose request (stamp: 1793237473566219111, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.274ms + 46.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.93sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237474.11693144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.98sWARNobjective_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 + 47.75sINFOobjective_server_nodeFound path in 0 iterations (1.518e-05 s). ×2 + 47.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3).[0m ×2 + 47.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg) + 48.53sINFOamclInitializing particles from estimated pose and covariance + 48.53sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg)[0m ×2 + 48.53sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0179446, y=-0.0417955, yaw=0.0670809 + 48.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.243ms + 48.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2).[0m ×2 + 49.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.980ms + 49.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.533ms + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 49.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.597ms + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2).[0m ×2 + 49.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.540ms + 50.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.507ms + 50.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.855ms + 50.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.631ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.5s	109 warnings · 191 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928890 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928890 ms (missed cycles : 2).[0m ×2 + 0.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682409 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682409 ms (missed cycles : 2).[0m ×2 + 1.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.25sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793237541.69074273 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203033 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203033 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793237543.26677632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192895 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192895 ms (missed cycles : 2).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986407 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986407 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574607 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574607 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249168 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249168 ms (missed cycles : 2).[0m ×2 + 6.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.832ms + 7.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.085ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485067 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485067 ms (missed cycles : 2).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.106ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745428 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745428 ms (missed cycles : 2).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.802ms + 9.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.105ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604366 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604366 ms (missed cycles : 3).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.139ms + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.820ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714092 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714092 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.629ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.418ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811395 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811395 ms (missed cycles : 3).[0m ×2 + 11.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.156ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.939ms + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116397 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116397 ms (missed cycles : 2).[0m ×2 + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.953ms + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.588ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293101 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293101 ms (missed cycles : 2).[0m ×2 + 14.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.096ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448181 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448181 ms (missed cycles : 3).[0m ×2 + 14.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.331ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.002ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705653 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705653 ms (missed cycles : 2).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.075ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.755ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937628 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937628 ms (missed cycles : 3).[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.132ms + 17.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.907ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762831 ms (missed cycles : 2). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762831 ms (missed cycles : 2).[0m ×2 + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.296ms + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.763ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972090 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972090 ms (missed cycles : 2).[0m ×2 + 19.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.009ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.029ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901666 ms (missed cycles : 3). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901666 ms (missed cycles : 3).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.704ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.133ms + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234087 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234087 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.403ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929329 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929329 ms (missed cycles : 2).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.780ms + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.910ms + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181950 ms (missed cycles : 2). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181950 ms (missed cycles : 2).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.769ms + 24.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.835ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605386 ms (missed cycles : 2). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605386 ms (missed cycles : 2).[0m ×2 + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.981ms + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.678ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028183 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028183 ms (missed cycles : 2).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.692ms + 26.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.899ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785050 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785050 ms (missed cycles : 2).[0m ×2 + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.543ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206146 ms (missed cycles : 2). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206146 ms (missed cycles : 2).[0m ×2 + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.032ms + 28.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.317ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443647 ms (missed cycles : 3). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443647 ms (missed cycles : 3).[0m ×2 + 29.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.672ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.126ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.127ms + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.096ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2).[0m ×2 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2).[0m ×2 + 32.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237573.22696614 seconds ×3 + 32.81sINFOstate_estimatorReceived a set_pose request (stamp: 1793237573244061921, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 32.96sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 32.96sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2).[0m ×2 + 33.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.591ms + 33.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 33.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 33.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237573.80480623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.66sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2).[0m ×2 + 35.03sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 35.03sINFOamclInitializing particles from estimated pose and covariance + 35.03sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 35.03sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568393, y=-0.0165617, yaw=-0.018278 + 35.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.427ms + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.7s	64 warnings · 259 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983977 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983977 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970888 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970888 ms (missed cycles : 2).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.035ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730120 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730120 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793237770.74498844 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793237770758370964, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.01, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.91, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.872ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902762 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902762 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.27sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.27sINFOobjective_server_nodecaller: ×6 + 3.27sINFOobjective_server_nodetype: 0 ×6 + 3.27sINFOobjective_server_nodename: "" ×6 + 3.27sINFOobjective_server_nodeinstance_id: "" ×6 + 3.27sINFOobjective_server_node ×6 + 3.31sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793237771.32345963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514616 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514616 ms (missed cycles : 3).[0m ×2 + 4.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.90sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.90sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538393, y=-0.0162258, yaw=-0.0161864 + 4.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.317ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197171 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197171 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286491 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286491 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695034 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695034 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111580 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111580 ms (missed cycles : 2).[0m ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×6 + 9.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930579 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930579 ms (missed cycles : 2).[0m ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.11sINFOobjective_server_nodeFound path in 33 iterations (0.0234708 s). ×2 + 10.38sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.42sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784530 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784530 ms (missed cycles : 2).[0m ×2 + 10.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 10.86sINFOobjective_server_nodeFound path in 0 iterations (6.1e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 11.41sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842598 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842598 ms (missed cycles : 2).[0m ×2 + 12.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907852 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907852 ms (missed cycles : 2).[0m ×2 + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.714ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809092 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809092 ms (missed cycles : 2).[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.149ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.914ms + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279332 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279332 ms (missed cycles : 2).[0m ×2 + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.371ms + 15.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.610ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.195ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2).[0m ×2 + 17.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237785.41518998 seconds ×3 + 17.43sINFOstate_estimatorReceived a set_pose request (stamp: 1793237785434828510, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 17.72sINFOamclParticle filter update iteration stats: 2019 particles 811 points - 5.313ms + 17.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 18.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237786.02613401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.02sINFOmove_groupClearing octomap...[0m ×2 + 18.02sINFOmove_groupOctomap cleared.[0m ×2 + 18.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 18.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3).[0m ×2 + 18.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237786.73629880 seconds ×3 + 19.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 19.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237787.30141544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 19.54sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 19.54sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.488ms + 19.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237788.00157714 seconds ×3 + 20.23sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	120 errors · 27 warnings · 580 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.610ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2).[0m ×2 + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.195ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2).[0m ×2 + 1.52sINFOjoint_trajectory_controllerGoal reached, success! + 1.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237785.41518998 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.57sINFOstate_estimatorReceived a set_pose request (stamp: 1793237785434828510, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.86sINFOamclParticle filter update iteration stats: 2019 particles 811 points - 5.313ms + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.09sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.09sINFOobjective_server_nodecaller: ×4 + 2.09sINFOobjective_server_nodetype: 0 ×4 + 2.09sINFOobjective_server_nodename: "" ×4 + 2.09sINFOobjective_server_nodeinstance_id: "" ×4 + 2.09sINFOobjective_server_node ×4 + 2.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237786.02613401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.20sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237786.73629880 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237787.30141544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.68sINFOamclInitializing particles from estimated pose and covariance + 3.68sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.68sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.488ms + 4.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237788.00157714 seconds ×3 + 4.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764958 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764958 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356376 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356376 ms (missed cycles : 3).[0m ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030658 ms (missed cycles : 2). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030658 ms (missed cycles : 2).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587302 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587302 ms (missed cycles : 2).[0m ×2 + 9.99sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.01sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORweb_video_auth_proxy-41process has died [pid 8259, 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 + 10.01sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.02sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORweb_bridge_auth_proxy-40process has died [pid 8242, 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 + 10.02sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.05sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.06sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.07sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.08sINFOvideo_server-39process has finished cleanly [pid 8222] ×2 + 10.08sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.09sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.10sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.10sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.11sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.12sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.13sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.14sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.15sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.16sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.17sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.18sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.19sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.19sINFOcontroller_managerShutdown request received.... + 10.19sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.19sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.19sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.19sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.19sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.19sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.19sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.19sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.19sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.19sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.19sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.19sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.19sINFOcontroller_managerShutting down the controller manager. + 10.20sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.21sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.22sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.23sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.24sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.24sERRORmove_group-25process has died [pid 8191, 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_fy_5fqmy --params-file /tmp/launch_params_kjqyam0b --params-file /tmp/launch_params_tp_3q9q_ --params-file /tmp/launch_params_31ti5z_g --params-file /tmp/launch_params_0x1g3xgl --params-file /tmp/launch_params_20df4xzy']. ×2 + 10.25sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.26sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.27sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.28sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.29sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.30sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.30sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.30sINFOmap_serverDeactivating + 10.30sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.30sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.30sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.30sINFOcontroller_serverDeactivating + 10.30sINFOlocal_costmap.local_costmapDeactivating + 10.30sINFOvideo_server2026/10/29 01:36:33 INF shutting down gracefully ×2 + 10.30sINFOvideo_server2026/10/29 01:36:33 INF [WebRTC] closing ×2 + 10.30sINFOvideo_server2026/10/29 01:36:33 INF [RTSP] closing ×2 + 10.30sINFOvideo_server2026/10/29 01:36:33 INF waiting for running hooks ×2 + 10.31sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOmap_serverCleaning up + 10.31sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.31sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.31sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.31sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.31sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.31sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.31sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.31sERRORmove_groupStack trace (most recent call last) in thread 8900: ×2 + 10.31sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.31sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3bf84f0cc3, in __clone ×2 + 10.31sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3bf8463b83, in ×2 + 10.31sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3bf86f6db3, in ×2 + 10.31sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f3bf8e5ee94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.31sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3bf8a88620, in rclcpp::Rate::sleep() ×2 + 10.31sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3bf89cad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.31sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3bf898c087, in ×2 + 10.31sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3bf86c5390, in __cxa_throw ×2 + 10.31sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3bf86afa54, in std::terminate() ×2 + 10.31sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3bf86c50d9, in ×2 + 10.31sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.31sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.31sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.31sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.31sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.31sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.31sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.31sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.31sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.31sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.31sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.31sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.31sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.31sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.31sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3bf86afff4, in ×2 + 10.31sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.31sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3bf83ef8fe, in abort ×2 + 10.31sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3bf840c27d, in raise ×2 + 10.31sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3bf8465c0c, in pthread_kill ×2 + 10.31sERRORmove_groupAborted (Signal sent by tkill() 8191 0) ×2 + 10.31sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.31sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.32sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.32sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sERRORamclThe bond connection to the lifecycle manager has been broken + 10.33sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.34sINFOcontroller_serverCleaning up + 10.34sINFOlocal_costmap.local_costmapCleaning up + 10.38sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.38sINFOsmoother_serverDeactivating + 10.38sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.39sINFOsmoother_serverCleaning up + 10.40sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.40sINFOplanner_serverDeactivating + 10.40sINFOglobal_costmap.global_costmapDeactivating + 10.41sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.41sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.48sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.48sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.48sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.48sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.48sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.48sINFOvelocity_smootherDeactivating + 10.48sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.64sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.64sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.65sINFOplanner_serverCleaning up + 10.67sINFOglobal_costmap.global_costmapCleaning up + 10.68sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.68sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.69sINFOwaypoint_followerDeactivating + 10.69sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.72sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.72sINFObehavior_serverDeactivating + 10.72sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.73sINFObehavior_serverCleaning up + 10.73sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.73sINFObt_navigatorDeactivating + 10.73sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.74sINFObt_navigatorCleaning up + 10.89sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.89sERRORbt_navigatorUnable to start transition 4 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.89sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 10.89sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.91sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.91sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.91sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.91sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.91sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.91sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.91sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.91sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.91sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.91sINFObt_navigatorCompleted Cleaning up + 10.91sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.91sINFOwaypoint_followerCleaning up + 10.91sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.91sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.91sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.91sINFOvelocity_smootherCleaning up + 10.92sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.92sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.92sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.93sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.94sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.94sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.94sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.94sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.94sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.10sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.10sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.10sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.10sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.10sINFOjoint_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 + 11.10sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.10sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.10sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.10sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.11sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.11sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.11sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.11sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.11sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.11sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.11sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.11sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.12sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.12sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.12sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.12sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.12sINFOtf_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 + 11.12sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.12sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.12sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.12sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8214] ×2 + 11.12sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.12sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.12sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.12sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.12sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.12sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.12sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.12sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.16sERRORjoint_state_visualization_relay-37process has died [pid 8213, 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_q_vgd6m5']. ×2 + 11.16sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.18sERRORtf_visualization_relay-36process has died [pid 8212, 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_0elfvmfm']. ×2 + 11.18sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.21sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8198] ×2 + 11.21sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8195] ×2 + 11.21sINFOui_teleop_bridge-34process has finished cleanly [pid 8203] ×2 + 11.23sINFOexecute_objective_bridge-33process has finished cleanly [pid 8202] ×2 + 11.24sINFOparameter_manager_node-26process has finished cleanly [pid 8192] ×2 + 11.26sERRORcomponent_container_isolated-1process has died [pid 8018, 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_cck8g9im --params-file /tmp/launch_params_h9zpvvkd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.27sINFOrelay-11process has finished cleanly [pid 8131] ×2 + 11.27sINFOrelay-10process has finished cleanly [pid 8130] ×2 + 11.28sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8026] ×2 + 11.29sINFOwaypoint_manager_node-27process has finished cleanly [pid 8193] ×2 + 11.29sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8025] ×2 + 11.29sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8132] ×2 + 11.30sINFOcomponent_container_mt-32process has finished cleanly [pid 8201] ×2 + 11.30sINFOstatic_transform_publisher-7process has finished cleanly [pid 8024] ×2 + 11.31sINFOstatic_transform_publisher-6process has finished cleanly [pid 8023] ×2 + 11.31sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.31sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.31sINFOlidar_flattener.pymain() ×2 + 11.31sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.31sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.31sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.31sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.31sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.31sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.31sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.31sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.31sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.31sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.33sINFOstatic_transform_publisher-3process has finished cleanly [pid 8020] ×2 + 11.35sERRORlidar_flattener.py-5process has died [pid 8022, 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_4lil5vgw']. ×2 + 11.38sINFOobjective_server_node[2026-10-29 01:36:35.253] [moveit_pro_license] [info] ×2 + 11.38sINFOobjective_server_node************************************************* ×4 + 11.38sINFOobjective_server_node* MoveIt Pro License ×2 + 11.38sINFOobjective_server_node* Application has successfully terminated ×2 + 11.56sINFOobjective_server_node_main-30process has finished cleanly [pid 8199] ×2 + 11.56sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.32sINFOodom_world_drift-4process has finished cleanly [pid 8021] ×2 + 12.34sINFOcomponent_container_mt-31process has finished cleanly [pid 8200] ×2 + 12.64sERRORcomponent_container_isolated-2process has died [pid 8019, 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_cck8g9im --params-file /tmp/launch_params_a63lat92 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.95sINFOros2_control_node-13process has finished cleanly [pid 8133] ×2 + 13.18sINFOweb_bridge-35process has finished cleanly [pid 8211] ×2 + 13.18sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 58 warnings · 172 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.958ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807965 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807965 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.471ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860728 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860728 ms (missed cycles : 2).[0m ×2 + 2.05sINFOjoint_trajectory_controllerGoal reached, success! + 2.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.10sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793237626.30498147 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.13sINFOstate_estimatorReceived a set_pose request (stamp: 1793237626326716542, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.29sWARNlocal_costmap.local_costmapSensor origin at (-1.98, 10.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.29sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908274 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908274 ms (missed cycles : 2).[0m ×2 + 2.44sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.138ms + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.65sINFOobjective_server_nodecaller: ×4 + 2.65sINFOobjective_server_nodetype: 0 ×4 + 2.65sINFOobjective_server_nodename: "" ×4 + 2.65sINFOobjective_server_nodeinstance_id: "" ×4 + 2.65sINFOobjective_server_node ×4 + 2.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793237626.89542651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865456 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865456 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.27sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.056733, y=-0.0171841, yaw=-0.0184047 + 4.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.811ms + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922937 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922937 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854926 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854926 ms (missed cycles : 3).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.901ms + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827093 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827093 ms (missed cycles : 2).[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.862ms + 7.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.209ms + 8.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.637ms + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674391 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674391 ms (missed cycles : 2).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.833ms + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993120 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993120 ms (missed cycles : 2).[0m ×2 + 9.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.283ms + 9.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.982ms + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029840 ms (missed cycles : 2). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029840 ms (missed cycles : 2).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.066ms + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.071ms + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460285 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460285 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.658ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730207 ms (missed cycles : 2). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730207 ms (missed cycles : 2).[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.430ms + 12.89sINFOobjective_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 + 12.89sINFOjoint_trajectory_controllerGot request to cancel goal + 12.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 12.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 12.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 12.92sERRORobjective_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: 1793237637.12638426 seconds ×3 + 12.95sINFOstate_estimatorReceived a set_pose request (stamp: 1793237637144449147, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.09sWARNlocal_costmap.local_costmapSensor origin at (-0.74, 3.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.09sWARNlocal_costmap.local_costmapSensor origin at (-1.64, 3.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.364ms + 13.19sWARNlocal_costmap.local_costmapSensor origin at (-0.48, 2.76) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.19sWARNlocal_costmap.local_costmapSensor origin at (-1.38, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.35sINFOamclParticle filter update iteration stats: 4735 particles 811 points - 7.398ms + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753957 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753957 ms (missed cycles : 2).[0m ×2 + 13.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793237637.70403051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.82sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176839 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176839 ms (missed cycles : 2).[0m ×2 + 15.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 15.17sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 15.17sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570407, y=-0.0158044, yaw=-0.0181568 + 15.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.887ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171074 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171074 ms (missed cycles : 2).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351735 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351735 ms (missed cycles : 3).[0m ×2 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.139ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.1s	47 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.79sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928890 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928890 ms (missed cycles : 2).[0m ×2 + 7.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682409 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682409 ms (missed cycles : 2).[0m ×2 + 8.84sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793237541.69074273 seconds ×3 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203033 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203033 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.38sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.42sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793237543.26677632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192895 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192895 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986407 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986407 ms (missed cycles : 2).[0m ×2 + 11.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574607 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574607 ms (missed cycles : 2).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249168 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249168 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	45 warnings · 144 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228285 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228285 ms (missed cycles : 2).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.115ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809534 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809534 ms (missed cycles : 3).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.868ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520807 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520807 ms (missed cycles : 3).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.63sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793237708.05421376 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOstate_estimatorReceived a set_pose request (stamp: 1793237708066635727, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.33) is out of map bounds (-4.55, 7.60) to (0.43, 12.58). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.97) is out of map bounds (-4.55, 7.60) to (0.43, 12.58). The costmap cannot raytrace for it. + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 5.939ms + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793237708.62836003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701352 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701352 ms (missed cycles : 3).[0m ×2 + 3.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989187 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989187 ms (missed cycles : 2).[0m ×2 + 4.82sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg) + 4.82sINFOamclInitializing particles from estimated pose and covariance + 4.82sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.6 deg)[0m ×2 + 4.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0547632, y=-0.0155574, yaw=-0.011238 + 4.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.957ms + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996607 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996607 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 9.02sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 9.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.57sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.61sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 9.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	5.8s	36 warnings · 172 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237473.54382253 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.78sINFOstate_estimatorReceived a set_pose request (stamp: 1793237473566219111, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.274ms + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.28sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.28sINFOobjective_server_nodecaller: ×4 + 2.28sINFOobjective_server_nodetype: 0 ×4 + 2.28sINFOobjective_server_nodename: "" ×4 + 2.28sINFOobjective_server_nodeinstance_id: "" ×4 + 2.28sINFOobjective_server_node ×4 + 2.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237474.11693144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNobjective_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 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (1.518e-05 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg) + 3.89sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg)[0m ×2 + 3.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0179446, y=-0.0417955, yaw=0.0670809 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.243ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.980ms + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.533ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.597ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.540ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.507ms + 5.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.855ms + 5.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.631ms + 5.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.294ms + 6.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.198ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575962 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575962 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.149ms + 6.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.109ms + 6.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.447ms + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.438ms + 7.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.836ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831678 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831678 ms (missed cycles : 2).[0m ×2 + 7.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793237479.32709050 seconds ×3 + 7.55sINFOstate_estimatorReceived a set_pose request (stamp: 1793237479342815516, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 7.77sINFOamclParticle filter update iteration stats: 1491 particles 811 points - 4.362ms + 8.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.06sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793237479.90311503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731811 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731811 ms (missed cycles : 3).[0m ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.77sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046555 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046555 ms (missed cycles : 2).[0m ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 9.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 9.69sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 9.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568824, y=-0.0164011, yaw=-0.0182526 + 9.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.591ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613065 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613065 ms (missed cycles : 3).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.846ms
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.914ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279332 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279332 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.371ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.610ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.195ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2).[0m ×2 + 2.77sINFOjoint_trajectory_controllerGoal reached, success! + 2.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237785.41518998 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1793237785434828510, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOamclParticle filter update iteration stats: 2019 particles 811 points - 5.313ms + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237786.02613401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.41sINFOmove_groupOctomap cleared.[0m ×2 + 3.45sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.45sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237786.73629880 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237787.30141544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.93sINFOamclInitializing particles from estimated pose and covariance + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2).[0m ×2 + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.488ms + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237788.00157714 seconds ×3 + 5.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764958 ms (missed cycles : 2). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764958 ms (missed cycles : 2).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356376 ms (missed cycles : 3). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356376 ms (missed cycles : 3).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	6 errors · 21 warnings · 711 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_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: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.55sINFOobjective_server_nodeobjective_name: "" ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node ×50 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.55sINFOobjective_server_node</Control> ×16 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.55sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.55sINFOobjective_server_nodecaller: ×22 + 0.55sINFOobjective_server_nodetype: 0 ×22 + 0.55sINFOobjective_server_nodename: "" ×22 + 0.55sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 0.66sINFOobjective_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 + 0.68sINFOobjective_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=\"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 + 0.68sINFOobjective_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 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 1.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 1.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.34sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.14sINFOmove_groupClearing octomap...[0m ×4 + 2.14sINFOmove_groupOctomap cleared.[0m ×4 + 2.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 7.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.46sINFOjoint_trajectory_controllerReceived new action goal + 7.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.46sINFOjoint_trajectory_controllerAccepted new action goal + 7.46sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	Close Gripper	close_gripper.xml	0.6s	6 errors · 21 warnings · 817 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.00sINFOobjective_server_nodeobjective_name: "" ×12 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.00sINFOobjective_server_node ×68 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.00sINFOobjective_server_node</Control> ×24 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.00sINFOobjective_server_nodecaller: ×26 + 0.00sINFOobjective_server_nodetype: 0 ×26 + 0.00sINFOobjective_server_nodename: "" ×26 + 0.00sINFOobjective_server_nodeinstance_id: "" ×26 + 0.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.11sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 0.17sINFOobjective_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 + 0.17sINFOobjective_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 + 0.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.29sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 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=\"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: "" + 0.81sINFOobjective_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=\"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_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 0.92sINFOobjective_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 + 0.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 1.57sINFOobjective_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: "" + 1.58sINFOobjective_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 + 1.61sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 1.75sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.40sINFOmove_groupClearing octomap...[0m ×4 + 2.40sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 5.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.127ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.096ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237573.22696614 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_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 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1793237573244061921, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.591ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237573.80480623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568393, y=-0.0165617, yaw=-0.018278 + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.427ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 317 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.65sINFOobjective_server_nodecaller: ×10 + 0.65sINFOobjective_server_nodetype: 0 ×10 + 0.65sINFOobjective_server_nodename: "" ×10 + 0.65sINFOobjective_server_nodeinstance_id: "" ×10 + 0.65sINFOobjective_server_node ×10 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOvacuum_gripperReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 1.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.97sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_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 + 2.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.79sINFOmove_groupClearing octomap...[0m ×2 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.79sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2 + 6.96sINFOamclParticle filter update iteration stats: 1054 particles 811 points - 7.812ms
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237473.54382253 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.78sINFOstate_estimatorReceived a set_pose request (stamp: 1793237473566219111, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.274ms + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.28sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.28sINFOobjective_server_nodecaller: ×2 + 2.28sINFOobjective_server_nodetype: 0 ×2 + 2.28sINFOobjective_server_nodename: "" ×2 + 2.28sINFOobjective_server_nodeinstance_id: "" ×2 + 2.28sINFOobjective_server_node ×2 + 2.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237474.11693144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNobjective_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 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (1.518e-05 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOjoint_trajectory_controllerReceived new action goal + 3.17sINFOjoint_trajectory_controllerAccepted new action goal + 3.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg) + 3.89sINFOamclInitializing particles from estimated pose and covariance + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg)[0m ×2 + 3.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0179446, y=-0.0417955, yaw=0.0670809 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.243ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.980ms + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.533ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.597ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.540ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.507ms + 5.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.855ms + 5.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.631ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641678 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449762 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237473.54382253 seconds ×3 + 1.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.78sINFOstate_estimatorReceived a set_pose request (stamp: 1793237473566219111, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728532 ms (missed cycles : 2).[0m ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.274ms + 2.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.28sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.28sINFOobjective_server_nodecaller: ×2 + 2.28sINFOobjective_server_nodetype: 0 ×2 + 2.28sINFOobjective_server_nodename: "" ×2 + 2.28sINFOobjective_server_nodeinstance_id: "" ×2 + 2.28sINFOobjective_server_node ×2 + 2.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237474.11693144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNobjective_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 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (1.518e-05 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671807 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.17sINFOjoint_trajectory_controllerReceived new action goal + 3.17sINFOjoint_trajectory_controllerAccepted new action goal + 3.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg) + 3.89sINFOamclInitializing particles from estimated pose and covariance + 3.89sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.02, -0.04, 3.8 deg)[0m ×2 + 3.89sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0179446, y=-0.0417955, yaw=0.0670809 + 4.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.243ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503656 ms (missed cycles : 2).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.980ms + 4.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.533ms + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 5.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.597ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2).[0m ×2 + 5.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.540ms + 5.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.507ms + 5.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.855ms + 5.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.631ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 93 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.597ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959289 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.540ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.507ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.855ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.631ms + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.294ms + 1.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.198ms + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575962 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575962 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.149ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.109ms + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.447ms + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.438ms + 2.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.836ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831678 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831678 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793237479.32709050 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237479342815516, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sINFOamclParticle filter update iteration stats: 1491 particles 811 points - 4.362ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793237479.90311503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731811 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731811 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046555 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046555 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568824, y=-0.0164011, yaw=-0.0182526 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.591ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613065 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613065 ms (missed cycles : 3).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.846ms
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	26 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal + 3.79sINFOjoint_trajectory_controllerAccepted new action goal + 3.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	26 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal + 3.79sINFOjoint_trajectory_controllerAccepted new action goal + 3.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	26 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal + 3.79sINFOjoint_trajectory_controllerAccepted new action goal + 3.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	26 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal + 3.79sINFOjoint_trajectory_controllerAccepted new action goal + 3.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	26 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal + 3.79sINFOjoint_trajectory_controllerAccepted new action goal + 3.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	26 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal + 3.79sINFOjoint_trajectory_controllerAccepted new action goal + 3.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	26 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119311 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095036 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.601ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023082 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237535.56330919 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793237535583358097, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.59) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.54) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.85sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.55, 1.40) to (1.43, 6.38). The costmap cannot raytrace for it. + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.624ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684904 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237536.15051198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal + 3.79sINFOjoint_trajectory_controllerAccepted new action goal + 3.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843044 ms (missed cycles : 3).[0m ×2 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.88sINFOamclInitializing particles from estimated pose and covariance + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0538067, y=-0.0162167, yaw=-0.016159 + 4.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.404ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747195 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538249 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.127ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.096ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237573.22696614 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_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 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1793237573244061921, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.591ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237573.80480623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568393, y=-0.0165617, yaw=-0.018278 + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.427ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.127ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.096ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237573.22696614 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_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 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1793237573244061921, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.591ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237573.80480623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568393, y=-0.0165617, yaw=-0.018278 + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.427ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	25 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597325 ms (missed cycles : 3).[0m ×2 + 0.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.127ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.096ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728088 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.792ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778774 ms (missed cycles : 2).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237573.22696614 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_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 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOstate_estimatorReceived a set_pose request (stamp: 1793237573244061921, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539645 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.591ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237573.80480623 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568393, y=-0.0165617, yaw=-0.018278 + 5.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.427ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818732 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649391 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	3 errors · 18 warnings · 571 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.61sINFOobjective_server_nodeobjective_name: "" ×4 + 0.61sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.61sINFOobjective_server_node ×32 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.61sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.61sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.61sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.61sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.61sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.61sINFOobjective_server_node</Control> ×8 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.61sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.61sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.61sINFOobjective_server_nodecaller: ×18 + 0.61sINFOobjective_server_nodetype: 0 ×18 + 0.61sINFOobjective_server_nodename: "" ×18 + 0.61sINFOobjective_server_nodeinstance_id: "" ×18 + 0.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 0.75sINFOobjective_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: "" + 0.75sINFOobjective_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 + 0.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.44sINFOmove_groupClearing octomap...[0m ×4 + 1.44sINFOmove_groupOctomap cleared.[0m ×4 + 1.45sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.45sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329315 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802539 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758690 ms (missed cycles : 2).[0m ×2 + 2.36sINFOjoint_trajectory_controllerGoal reached, success! + 2.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237714.40852618 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237714.99478388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900294 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777682 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732959 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932821 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.914ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279332 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279332 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.371ms + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.610ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068860 ms (missed cycles : 2).[0m ×2 + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.195ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277642 ms (missed cycles : 2).[0m ×2 + 2.77sINFOjoint_trajectory_controllerGoal reached, success! + 2.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237785.41518998 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOstate_estimatorReceived a set_pose request (stamp: 1793237785434828510, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOamclParticle filter update iteration stats: 2019 particles 811 points - 5.313ms + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237786.02613401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.41sINFOmove_groupOctomap cleared.[0m ×2 + 3.45sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.45sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718684 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237786.73629880 seconds ×3 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237787.30141544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.93sINFOamclInitializing particles from estimated pose and covariance + 4.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568213, y=-0.0171819, yaw=-0.0184025 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791035 ms (missed cycles : 2).[0m ×2 + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.488ms + 5.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237788.00157714 seconds ×3 + 5.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436750 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	3 errors · 24 warnings · 450 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.02sINFOobjective_server_nodeobjective_name: "" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.02sINFOobjective_server_nodecaller: ×16 + 0.02sINFOobjective_server_nodetype: 0 ×16 + 0.02sINFOobjective_server_nodename: "" ×16 + 0.02sINFOobjective_server_nodeinstance_id: "" ×16 + 0.02sINFOobjective_server_node ×16 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.71sINFOmove_groupClearing octomap...[0m ×4 + 0.71sINFOmove_groupOctomap cleared.[0m ×4 + 0.71sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.71sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_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 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	3 errors · 21 warnings · 571 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.61sINFOobjective_server_nodeobjective_name: "" ×4 + 0.61sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.61sINFOobjective_server_node ×32 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.61sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.61sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.61sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.61sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.61sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.61sINFOobjective_server_node</Control> ×8 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.61sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.61sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.61sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.61sINFOobjective_server_nodecaller: ×18 + 0.61sINFOobjective_server_nodetype: 0 ×18 + 0.61sINFOobjective_server_nodename: "" ×18 + 0.61sINFOobjective_server_nodeinstance_id: "" ×18 + 0.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 0.75sINFOobjective_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: "" + 0.75sINFOobjective_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 + 0.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.44sINFOmove_groupClearing octomap...[0m ×4 + 1.44sINFOmove_groupOctomap cleared.[0m ×4 + 1.45sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.45sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_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 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 842 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.54sINFOobjective_server_nodeobjective_name: "" ×12 + 0.54sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.54sINFOobjective_server_node ×68 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.54sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.54sINFOobjective_server_node</Control> ×24 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.54sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.54sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.54sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.54sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.54sINFOobjective_server_nodecaller: ×26 + 0.54sINFOobjective_server_nodetype: 0 ×26 + 0.54sINFOobjective_server_nodename: "" ×26 + 0.54sINFOobjective_server_nodeinstance_id: "" ×26 + 0.57sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 0.71sINFOobjective_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 + 0.71sINFOobjective_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 + 0.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 1.34sINFOobjective_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: "" + 1.35sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><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 + 1.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 1.45sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 2.11sINFOobjective_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: "" + 2.11sINFOobjective_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 + 2.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 2.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOobjective_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 + 6.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 6.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.94sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	addtovector.xml	0.0s	6 errors · 18 warnings · 805 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! ×22 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×44 + 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 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674110 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 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 ×66 + 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: [] ×24 + 0.54sINFOobjective_server_nodecaller: ×24 + 0.54sINFOobjective_server_nodetype: 0 ×24 + 0.54sINFOobjective_server_nodename: "" ×24 + 0.54sINFOobjective_server_nodeinstance_id: "" ×24 + 0.57sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.14464641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.22491527 seconds ×3 + 0.71sINFOobjective_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 + 0.71sINFOobjective_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 + 0.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.31302381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 1.34sINFOobjective_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: "" + 1.35sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><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 + 1.37sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 1.45sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 2.11sINFOobjective_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: "" + 2.11sINFOobjective_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 + 2.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 2.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.94sINFOmove_groupClearing octomap...[0m ×4 + 2.94sINFOmove_groupOctomap cleared.[0m ×4 + 2.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.95sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOobjective_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 + 6.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 21 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_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: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.55sINFOobjective_server_nodeobjective_name: "" ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node ×50 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.55sINFOobjective_server_node</Control> ×16 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.55sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.55sINFOobjective_server_nodecaller: ×22 + 0.55sINFOobjective_server_nodetype: 0 ×22 + 0.55sINFOobjective_server_nodename: "" ×22 + 0.55sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 0.66sINFOobjective_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 + 0.68sINFOobjective_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=\"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 + 0.68sINFOobjective_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 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 1.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 1.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.34sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.14sINFOmove_groupClearing octomap...[0m ×4 + 2.14sINFOmove_groupOctomap cleared.[0m ×4 + 2.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 21 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_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: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.55sINFOobjective_server_nodeobjective_name: "" ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node ×50 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.55sINFOobjective_server_node</Control> ×16 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.55sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.55sINFOobjective_server_nodecaller: ×22 + 0.55sINFOobjective_server_nodetype: 0 ×22 + 0.55sINFOobjective_server_nodename: "" ×22 + 0.55sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 0.66sINFOobjective_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 + 0.68sINFOobjective_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=\"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 + 0.68sINFOobjective_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 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 1.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 1.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.34sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.14sINFOmove_groupClearing octomap...[0m ×4 + 2.14sINFOmove_groupOctomap cleared.[0m ×4 + 2.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 21 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237424.37318206 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 0.55sINFOobjective_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: "" + 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.55sINFOobjective_server_nodeobjective_name: "" ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node ×50 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.55sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.55sINFOobjective_server_node</Control> ×16 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.55sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.55sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.55sINFOobjective_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 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.55sINFOobjective_server_nodecaller: ×22 + 0.55sINFOobjective_server_nodetype: 0 ×22 + 0.55sINFOobjective_server_nodename: "" ×22 + 0.55sINFOobjective_server_nodeinstance_id: "" ×22 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237424.94980860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.02997684 seconds ×3 + 0.66sINFOobjective_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 + 0.68sINFOobjective_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=\"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 + 0.68sINFOobjective_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 + 0.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.07838583 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.13853526 seconds ×3 + 1.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 1.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 1.34sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.71802616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 1.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.14sINFOmove_groupClearing octomap...[0m ×4 + 2.14sINFOmove_groupOctomap cleared.[0m ×4 + 2.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.15sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 5.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_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 + 5.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 21 warnings · 450 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237425.80929255 seconds ×3 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.02sINFOobjective_server_nodeobjective_name: "" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.02sINFOobjective_server_nodecaller: ×16 + 0.02sINFOobjective_server_nodetype: 0 ×16 + 0.02sINFOobjective_server_nodename: "" ×16 + 0.02sINFOobjective_server_nodeinstance_id: "" ×16 + 0.02sINFOobjective_server_node ×16 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237425.85719728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237425.92736173 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2). + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330729 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.71sINFOmove_groupClearing octomap...[0m ×4 + 0.71sINFOmove_groupOctomap cleared.[0m ×4 + 0.71sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.71sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.26sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_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 + 4.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.03sINFOjoint_trajectory_controllerReceived new action goal + 6.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.03sINFOjoint_trajectory_controllerAccepted new action goal + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 401 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2 + 7.63sINFOamclParticle filter update iteration stats: 1054 particles 811 points - 7.812ms

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237426.51210666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.03sINFOmove_groupClearing octomap...[0m ×4 + 0.03sINFOmove_groupOctomap cleared.[0m ×4 + 0.04sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.04sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237426.53230262 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994245 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237427.09902382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237427.15921211 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237427.83911824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237427.89928222 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367782 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237428.57912588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237428.58927226 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668733 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237429.16134429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237429.31189704 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237429.89561844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237429.97592020 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138623 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237430.54582167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788519 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962897 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828409 ms (missed cycles : 2).[0m ×2