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	19.7s	6 errors · 315 warnings · 1837 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/2026-10-29-01-31-36-514497-ebe451b2d163-7987 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 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' + 3.18sINFOstatic_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' + 3.19sINFOstatic_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' + 3.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 3.23sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 3.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 3.26sINFOcontroller_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. + 3.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 3.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 3.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 3.30sINFOmap_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. + 3.30sINFOmap_serverCreating + 3.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 3.31sINFOcontroller_serverCreating controller server + 3.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 3.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 3.34sINFOlocal_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. + 3.35sINFOlocal_costmap.local_costmapCreating Costmap + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 3.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 3.38sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 3.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 3.42sINFOsmoother_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. + 3.42sINFOlifecycle_manager_localizationCreating + 3.43sINFOsmoother_serverCreating smoother server + 3.44sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 3.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 3.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 3.46sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 3.46sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 3.46sINFOmap_serverConfiguring + 3.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 3.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 3.48sINFOplanner_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. + 3.50sINFOstate_estimatorReceived a set_pose request (stamp: 1793237501471862524, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 3.50sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 3.50sINFOamclConfiguring + 3.50sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 3.51sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 3.52sINFOplanner_serverCreating + 3.52sINFOmap_serverActivating + 3.52sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 3.52sINFOros2_control_node-13process started with pid [8152] ×2 + 3.53sINFOmove_group-25process started with pid [8218] ×2 + 3.53sINFOparameter_manager_node-26process started with pid [8221] ×2 + 3.53sINFOwaypoint_manager_node-27process started with pid [8224] ×2 + 3.53sINFOmove_joint_resampler_node-28process started with pid [8225] ×2 + 3.53sINFOmove_end_effector_resampler_node-29process started with pid [8230] ×2 + 3.53sINFOobjective_server_node_main-30process started with pid [8237] ×2 + 3.53sINFOcomponent_container_mt-31process started with pid [8240] ×2 + 3.53sINFOcomponent_container_mt-32process started with pid [8241] ×2 + 3.53sINFOexecute_objective_bridge-33process started with pid [8242] ×2 + 3.53sINFOui_teleop_bridge-34process started with pid [8245] ×2 + 3.53sINFOweb_bridge-35process started with pid [8248] ×2 + 3.53sINFOtf_visualization_relay-36process started with pid [8249] ×2 + 3.53sINFOjoint_state_visualization_relay-37process started with pid [8250] ×2 + 3.53sINFOtf2_web_republisher_node-38process started with pid [8253] ×2 + 3.53sINFOvideo_server-39process started with pid [8254] ×2 + 3.53sINFOweb_bridge_auth_proxy-40process started with pid [8256] ×2 + 3.53sINFOweb_video_auth_proxy-41process started with pid [8257] ×2 + 3.54sINFOcomponent_container_isolated-1process started with pid [8037] ×2 + 3.54sINFOcomponent_container_isolated-2process started with pid [8038] ×2 + 3.54sINFOstatic_transform_publisher-3process started with pid [8039] ×2 + 3.54sINFOodom_world_drift-4process started with pid [8040] ×2 + 3.54sINFOlidar_flattener.py-5process started with pid [8041] ×2 + 3.54sINFOstatic_transform_publisher-6process started with pid [8042] ×2 + 3.54sINFOglobal_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. + 3.54sINFOstatic_transform_publisher-7process started with pid [8043] ×2 + 3.54sINFOscan_to_scan_filter_chain-8process started with pid [8044] ×2 + 3.54sINFOscan_to_scan_filter_chain-9process started with pid [8045] ×2 + 3.54sINFOrelay-10process started with pid [8149] ×2 + 3.54sINFOrelay-11process started with pid [8150] ×2 + 3.54sINFOfixed_lag_smoother_node-12process started with pid [8151] ×2 + 3.54sINFOros2-14process started with pid [8153] ×2 + 3.54sINFOros2-15process started with pid [8154] ×2 + 3.54sINFOros2-16process started with pid [8155] ×2 + 3.54sINFOros2-17process started with pid [8156] ×2 + 3.54sINFOros2-18process started with pid [8157] ×2 + 3.54sINFOros2-19process started with pid [8158] ×2 + 3.54sINFOros2-20process started with pid [8159] ×2 + 3.54sINFOros2-21process started with pid [8160] ×2 + 3.54sINFOros2-22process started with pid [8161] ×2 + 3.54sINFOros2-23process started with pid [8162] ×2 + 3.54sINFOros2-24process started with pid [8179] ×2 + 3.55sINFOglobal_costmap.global_costmapCreating Costmap + 3.57sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 3.58sINFOcontroller_managerupdate rate is 600 Hz + 3.58sINFOcontroller_managerOverruns handling is : enabled + 3.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.58sWARNcontroller_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. + 3.60sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 3.60sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 3.60sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 3.60sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 3.60sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 3.60sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 3.60sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 3.60sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 3.60sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 3.60sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 3.60sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 3.60sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 3.61sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 3.61sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.61sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 3.61sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.61sWARNros2_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 + 3.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 3.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 3.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 3.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 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 + 3.62sINFOlifecycle_manager_localizationServer map_server connected with bond. + 3.62sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 3.62sINFOamclActivating + 3.62sINFOamclSubscribed to initial_pose_topic: /initialpose + 3.62sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 3.64sINFOamclSubscribed to map_topic: /map + 3.64sINFObehavior_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. + 3.65sINFOamclSubscribed to scan_topic: /scan_interleaved + 3.65sINFOamclCreated reinitialize_global_localization service + 3.66sINFOamclCreated request_nomotion_update service + 3.66sINFOamclA new map was received + 3.66sINFOamclInitializing particle filter instance + 3.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854764 ms (missed cycles : 2). + 3.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 3.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 3.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854764 ms (missed cycles : 2).[0m ×2 + 3.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 3.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 3.78sINFObt_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. + 3.80sINFOrobot_state_publisherRobot initialized + 3.80sINFOcomponent_container_mtRobot initialized[0m ×2 + 3.80sINFOcontroller_managerReceived robot description from topic. + 3.80sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 3.81sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 3.81sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 3.81sINFObt_navigatorCreating + 3.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 3.82sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 3.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 3.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 3.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 3.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 3.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 3.85sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 3.85sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 3.86sINFOvideo_server2026/10/29 01:31:41 INF MediaMTX v1.20.1, linux, amd64 ×2 + 3.87sINFOvideo_server2026/10/29 01:31:41 INF configuration loaded from /tmp/moveit-webrtc-q6hrh76h/mediamtx.yml ×2 + 3.87sINFOvideo_server2026/10/29 01:31:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 3.87sINFOvideo_server2026/10/29 01:31:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.87sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 3.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 3.88sINFOwaypoint_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. + 3.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 3.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 3.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 3.89sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 3.89sINFOwaypoint_followerCreating + 3.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 3.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 3.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 3.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 3.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 3.96sINFOvelocity_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. + 3.96sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 3.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 3.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 3.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 3.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 3.99sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 3.99sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 3.99sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 3.99sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 4.01sINFOlifecycle_manager_navigationCreating + 4.04sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 4.06sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 4.06sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 4.06sINFOcontroller_serverConfiguring controller interface + 4.06sINFOcontroller_servergetting progress checker plugins.. + 4.06sINFOcontroller_servergetting goal checker plugins.. + 4.06sINFOcontroller_serverController frequency set to 20.0000Hz + 4.06sINFOlocal_costmap.local_costmapConfiguring + 4.07sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 4.10sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 4.14sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 4.14sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 4.15sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 4.19sWARNlaser_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. + 4.19sWARNscan_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 + 4.19sWARNlaser_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. + 4.21sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 4.22sINFOcontroller_serverController Server has progress_checker progress checkers available. + 4.23sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 4.23sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 4.25sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 4.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 4.29sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 4.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 4.30sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 4.31sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.31sINFOweb_video_auth_proxy2026-10-29 01:31:42,279 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 4.32sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 4.32sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 4.33sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 4.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 4.33sINFOweb_video_auth_proxy2026-10-29 01:31:42,281 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 4.33sINFOweb_bridge_auth_proxy2026-10-29 01:31:42,283 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 4.34sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 4.35sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 4.36sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 4.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 4.38sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 4.40sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 4.40sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 4.41sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 4.41sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 4.41sINFOcontroller_serverOptimizer reset ×2 + 4.43sINFOcontroller_serverController Server has FollowPath controllers available. + 4.46sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 4.46sINFOsmoother_serverConfiguring smoother server + 4.48sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 4.49sINFOamclParticle filter initialization completed + 4.49sINFOamclInitializing particles from estimated pose and covariance + 4.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 4.49sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 4.49sINFOamclThe bond connection to the lifecycle manager is now fully formed + 4.50sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 4.50sINFOplanner_serverConfiguring + 4.50sINFOglobal_costmap.global_costmapConfiguring + 4.50sINFOlifecycle_manager_localizationServer amcl connected with bond. + 4.50sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 4.50sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 4.51sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 4.53sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 4.53sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 4.53sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 4.55sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 4.60sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 4.60sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 4.61sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 4.65sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 4.65sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 4.66sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 4.66sINFOplanner_serverPlanner Server has GridBased planners available. + 4.69sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 4.69sINFObehavior_serverConfiguring + 4.71sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 4.71sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 4.71sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 4.72sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 4.72sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 4.73sINFObehavior_serverConfiguring spin + 4.76sINFObehavior_serverConfiguring backup + 4.76sINFObehavior_serverConfiguring drive_on_heading + 4.77sINFObehavior_serverConfiguring assisted_teleop + 4.77sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.45485 seconds + 4.77sINFOmove_groupLoaded robot model in 0.45485 seconds[0m ×2 + 4.78sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 4.78sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 4.78sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 4.78sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 4.79sINFObehavior_serverConfiguring wait + 4.80sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 4.80sINFObt_navigatorConfiguring + 4.81sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638532 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638532 ms (missed cycles : 2).[0m ×2 + 4.83sWARNbt_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 + 4.83sINFOwaypoint_manager_nodeLoaded robot model in 0.434016 seconds[0m ×2 + 4.83sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 4.83sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 4.97sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 5.03sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 5.03sINFOwaypoint_followerConfiguring + 5.06sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 5.06sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 5.06sINFOvelocity_smootherConfiguring velocity smoother + 5.08sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 5.08sINFOcontroller_serverActivating + 5.08sINFOlocal_costmap.local_costmapActivating + 5.08sINFOlocal_costmap.local_costmapChecking transform + 5.08sINFOlocal_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 + 5.09sWARNmove_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. + 5.09sWARNmove_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. + 5.09sWARNmove_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 + 5.09sWARNmove_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. + 5.09sWARNmove_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. + 5.09sWARNmove_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 + 5.09sWARNmove_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 + 5.09sWARNmove_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 + 5.10sWARNmove_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. + 5.10sWARNmove_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. + 5.10sWARNmove_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 + 5.10sWARNmove_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 + 5.10sWARNmove_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. + 5.10sWARNmove_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. + 5.10sWARNmove_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 + 5.10sWARNmove_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. + 5.10sWARNmove_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 + 5.10sWARNmove_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. + 5.10sWARNmove_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 + 5.10sWARNmove_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 + 5.11sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 5.11sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 5.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 5.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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 + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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 + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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 + 5.13sWARNwaypoint_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 + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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 + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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 + 5.13sWARNwaypoint_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. + 5.13sWARNwaypoint_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 + 5.14sWARNwaypoint_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 + 5.14sWARNwaypoint_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. + 5.14sWARNwaypoint_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 + 5.14sWARNwaypoint_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. + 5.14sWARNwaypoint_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 + 5.14sWARNwaypoint_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. + 5.14sWARNwaypoint_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 + 5.14sWARNwaypoint_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. + 5.14sWARNwaypoint_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 + 5.14sWARNwaypoint_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. + 5.14sWARNwaypoint_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 + 5.14sWARNwaypoint_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. + 5.14sWARNwaypoint_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.15sINFOros2_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.15sWARNwaypoint_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 + 5.15sINFOros2_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.15sWARNwaypoint_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.15sWARNwaypoint_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. + 5.15sWARNwaypoint_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 + 5.16sWARNwaypoint_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. + 5.16sWARNwaypoint_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 + 5.16sWARNwaypoint_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. + 5.16sWARNwaypoint_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 + 5.16sWARNwaypoint_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. + 5.16sWARNwaypoint_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. + 5.16sWARNwaypoint_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 + 5.16sWARNwaypoint_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 + 5.46sINFOwaypoint_manager_node[2026-10-29 01:31:43.427] [moveit_pro_license] [info] ×2 + 5.46sINFOwaypoint_manager_node************************************************* ×4 + 5.46sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 5.46sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.47sINFOmove_group[2026-10-29 01:31:43.444] [moveit_pro_license] [info] ×2 + 5.47sINFOmove_group************************************************* ×4 + 5.47sINFOmove_group* MoveIt Pro License ×2 + 5.47sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.74sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 5.74sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 5.75sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 5.75sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 5.75sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 5.76sINFOros2_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 + 5.76sWARNros2_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 + 5.76sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 5.76sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.76sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 5.76sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 5.76sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 5.76sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 5.76sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.76sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.76sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 5.76sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.76sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.76sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.76sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 5.76sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.76sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.76sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 5.76sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 5.76sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 5.76sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.76sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.76sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.76sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.76sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.76sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.76sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.76sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 5.81sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 5.81sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 5.81sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 5.81sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 5.81sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 5.81sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 5.81sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 5.81sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 5.81sINFOmove_groupStarting planning scene monitor[0m ×2 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 5.81sINFOmove_groupListening to '/planning_scene'[0m ×2 + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 5.81sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 5.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 5.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 5.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 5.82sINFOmove_groupListening to 'collision_object'[0m ×2 + 5.82sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 5.82sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 5.82sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 5.82sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 5.82sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 5.83sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 5.83sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 5.87sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 5.87sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 5.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 5.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 5.88sINFOplatform_velocity_controllerconfigure successful + 5.88sINFOros2_control_nodeconfigure successful[0m ×6 + 5.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOcontroller_managerSuccessfully switched controllers! ×21 + 5.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 5.89sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 5.89sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 5.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 5.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 5.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 5.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 5.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 5.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 5.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 5.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 5.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 5.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 5.95sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 5.95sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 5.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.98sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 5.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 6.00sINFOros2_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 + 6.00sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 6.00sWARNros2_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 + 6.08sINFOlocal_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. + 6.09sINFOobjective_server_node[2026-10-29 01:31:44.059] [moveit_pro_license] [info] ×2 + 6.09sINFOobjective_server_node************************************************* ×4 + 6.09sINFOobjective_server_node* MoveIt Pro License ×2 + 6.09sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778393 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778393 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeLoaded robot model in 0.0276731 seconds[0m ×2 + 6.16sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 6.16sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 6.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 6.20sWARNcomponent_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 + 6.26sINFOros2-17process has finished cleanly [pid 8156] ×2 + 6.27sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.27sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.27sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.28sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 6.28sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 6.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 6.39sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.39sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 6.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 6.43sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 6.43sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 6.44sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 6.44sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 6.44sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 6.44sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 6.45sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 6.45sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 6.45sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 6.45sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 6.45sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 6.45sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 6.45sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 6.46sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 6.46sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 6.46sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 6.46sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 6.46sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 6.46sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 6.46sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 6.47sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 6.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.47sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 6.47sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 6.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 6.47sWARNobjective_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. + 6.47sWARNobjective_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 + 6.47sWARNobjective_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. + 6.47sWARNobjective_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 + 6.47sWARNobjective_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. + 6.47sWARNobjective_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 + 6.47sWARNobjective_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. + 6.47sWARNobjective_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 + 6.48sWARNobjective_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. + 6.48sWARNobjective_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 + 6.48sWARNobjective_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. + 6.48sWARNobjective_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 + 6.48sWARNobjective_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. + 6.48sWARNobjective_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 + 6.48sWARNobjective_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. + 6.48sWARNobjective_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 + 6.48sWARNobjective_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. + 6.48sWARNobjective_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 + 6.48sWARNobjective_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. + 6.48sWARNobjective_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 + 6.54sINFOobjective_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 + 6.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 6.57sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 6.57sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 6.57sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 6.57sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 6.57sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 6.57sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 6.57sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 6.58sINFOlocal_costmap.local_costmapstart + 6.65sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.65sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 6.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 6.66sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.66sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.66sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.66sINFOcomponent_container_mtLoaded robot model in 0.459807 seconds[0m ×2 + 6.66sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 6.66sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.68sINFOstreaming_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) + 6.68sINFOcomponent_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 + 6.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.68sINFOros2-16process has finished cleanly [pid 8155] ×2 + 6.68sWARNcontroller_serverParameter controller_server.verbose not found + 6.68sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 6.68sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 6.68sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 6.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 6.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 6.79sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 6.79sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 6.79sINFOsmoother_serverActivating + 6.79sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 6.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.82sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 6.84sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 6.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.84sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 6.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 6.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 6.90sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 6.90sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 6.90sINFOplanner_serverActivating + 6.90sINFOglobal_costmap.global_costmapActivating + 6.90sINFOglobal_costmap.global_costmapChecking transform + 6.90sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 6.92sWARNplanning_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. + 6.92sWARNcomponent_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 + 6.92sWARNplanning_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. + 6.92sWARNcomponent_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 + 6.92sWARNplanning_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. + 6.92sWARNcomponent_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 + 6.92sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.93sWARNcomponent_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 + 6.93sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.94sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.94sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.94sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.94sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.94sWARNplanning_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. + 6.94sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.94sWARNcomponent_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 + 6.94sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.94sWARNplanning_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. + 6.94sWARNcomponent_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 + 6.95sWARNplanning_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. + 6.95sWARNcomponent_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 + 6.95sWARNplanning_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. + 6.95sWARNcomponent_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 + 6.95sWARNplanning_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. + 6.95sWARNcomponent_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 + 6.95sWARNplanning_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. + 6.95sWARNcomponent_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 + 7.08sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 7.08sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 7.11sINFOros2_control_node[2026-10-29 01:31:45.084] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 7.12sINFOros2_control_node[2026-10-29 01:31:45.089] [info] Controller state will be published at 10 Hz. ×2 + 7.12sINFOros2_control_node[2026-10-29 01:31:45.090] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355421 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355421 ms (missed cycles : 2).[0m ×2 + 7.28sINFOmove_groupMoveGroup debug mode is ON + 7.28sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 7.28sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 7.30sINFOcomponent_container_mt[2026-10-29 01:31:45.270] [moveit_pro_license] [info] ×2 + 7.30sINFOcomponent_container_mt************************************************* ×4 + 7.30sINFOcomponent_container_mt* MoveIt Pro License ×2 + 7.30sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.31sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 7.31sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 7.31sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 7.31sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 7.31sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 7.32sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 7.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 7.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 7.41sINFOmove_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 ****************************************************** + 7.41sINFOmove_group ×8 + 7.41sINFOmove_group****************************************************** ×4 + 7.41sINFOmove_group* MoveGroup using: ×2 + 7.41sINFOmove_group* - apply_planning_scene_service ×2 + 7.41sINFOmove_group* - clear_octomap_service ×2 + 7.41sINFOmove_group* - get_group_urdf ×2 + 7.41sINFOmove_group* - load_geometry_from_file ×2 + 7.41sINFOmove_group* - get_planning_scene_service ×2 + 7.41sINFOmove_group* - kinematics_service ×2 + 7.41sINFOmove_group* - save_geometry_to_file ×2 + 7.41sINFOmove_group* - GetPlanningGroups ×2 + 7.41sINFOmove_group* - URDFPlanningSceneCapability ×2 + 7.41sINFOmove_group[0m ×2 + 7.41sINFOmove_group[92mYou can start planning now![0m ×2 + 7.44sWARNros2_control_nodeCamera render tick took 0.62 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 + 7.44sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.44sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.44sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 7.44sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 7.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.45sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.45sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.45sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.45sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 7.45sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 7.45sINFOamclParticle filter update iteration stats: 1735 particles 811 points - 17.525ms + 7.46sINFOros2-21process has finished cleanly [pid 8160] ×2 + 7.51sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.51sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.51sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.51sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.51sINFOplatform_velocity_controller_nav2configure successful + 7.59sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 7.59sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 7.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 7.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 7.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 7.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 7.85sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.85sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.85sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 7.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 7.87sINFOros2-19process has finished cleanly [pid 8158] ×2 + 7.90sINFOglobal_costmap.global_costmapstart + 7.91sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 7.91sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 7.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 7.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.18sINFOros2_control_node[2026-10-29 01:31:46.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.18sINFOros2_control_node[2026-10-29 01:31:46.153] [info] Controller state will be published at 10 Hz. ×2 + 8.18sINFOros2_control_node[2026-10-29 01:31:46.154] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324740 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324740 ms (missed cycles : 2).[0m ×2 + 8.49sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.49sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.52sINFOros2-22process has finished cleanly [pid 8161] ×2 + 8.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 8.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 8.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.85sINFOros2_control_node[2026-10-29 01:31:46.823] [info] Controller state will be published at 20 Hz. ×2 + 8.85sINFOros2_control_node[2026-10-29 01:31:46.824] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.95sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 8.95sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 9.06sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 9.06sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 9.06sINFObehavior_serverActivating + 9.06sINFObehavior_serverActivating spin + 9.06sINFObehavior_serverActivating backup + 9.06sINFObehavior_serverActivating drive_on_heading + 9.06sINFObehavior_serverActivating assisted_teleop + 9.06sINFObehavior_serverActivating wait + 9.06sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 9.11sWARNobjective_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 + 9.16sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.16sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.16sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.16sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.16sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 9.16sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 9.17sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 9.17sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 9.17sINFObt_navigatorActivating + 9.19sINFOros2-23process has finished cleanly [pid 8162] ×2 + 9.23sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.23sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.23sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.23sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.25sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 9.36sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 9.36sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 9.36sINFOwaypoint_followerActivating + 9.36sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730080 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730080 ms (missed cycles : 3).[0m ×2 + 9.45sINFOros2_control_node[2026-10-29 01:31:47.417] [info] Controller state will be published at 20 Hz. ×2 + 9.45sINFOros2_control_node[2026-10-29 01:31:47.419] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.46sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 9.46sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 9.46sINFOvelocity_smootherActivating + 9.46sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 9.57sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 9.57sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 9.57sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 9.76sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.76sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.76sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.76sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.77sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 9.77sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 9.79sINFOros2-24process has finished cleanly [pid 8179] ×2 + 9.82sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.82sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.82sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.82sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.82sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.82sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.83sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.83sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 10.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 10.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 10.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 10.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 10.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 10.16sINFOros2-15process has finished cleanly [pid 8154] ×2 + 10.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 10.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 10.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 10.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 10.26sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 10.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 10.26sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 10.27sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 10.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 10.27sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 10.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 10.27sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 10.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 10.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 10.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911658 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911658 ms (missed cycles : 3).[0m ×2 + 10.55sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.55sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.55sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.55sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 10.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 10.58sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.60sINFOros2-20process has finished cleanly [pid 8159] ×2 + 10.61sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.61sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.63sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.63sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.95sINFOros2-18process has finished cleanly [pid 8157] ×2 + 10.96sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.96sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.96sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.96sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.96sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t + 10.96sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5_q_0z1y --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_v7v4mm30 --params-file /tmp/launch_params_19yf7r1t [0m ×2 + 11.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.02sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.02sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.03sINFOforce_torque_sensor_broadcasterconfigure successful + 11.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.34sINFOros2-14process has finished cleanly [pid 8153] ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632841 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.632841 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742175 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742175 ms (missed cycles : 2).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153716 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153716 ms (missed cycles : 2).[0m ×2 + 13.62sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 13.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 13.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 13.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 13.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 13.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 13.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 13.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 13.74sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 13.74sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340836 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340836 ms (missed cycles : 2).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784309 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784309 ms (missed cycles : 2).[0m ×2 + 15.80sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060624 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060624 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2).[0m ×2 + 19.36sINFOobjective_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: "" + 19.36sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 19.36sINFOobjective_server_nodeobjective_name: "" ×12 + 19.36sINFOobjective_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 + 19.36sINFOobjective_server_node ×58 + 19.36sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 19.36sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 19.36sINFOobjective_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 + 19.36sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 19.36sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 19.36sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 19.36sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 19.36sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 19.36sINFOobjective_server_node</Control> ×24 + 19.36sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 19.36sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 19.36sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 19.36sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 19.36sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 19.36sINFOobjective_server_nodeparameter_overrides: [] ×16 + 19.36sINFOobjective_server_nodecaller: ×16 + 19.36sINFOobjective_server_nodetype: 0 ×16 + 19.36sINFOobjective_server_nodename: "" ×16 + 19.36sINFOobjective_server_nodeinstance_id: "" ×16 + 19.39sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.46sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 19.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 19.52sINFOobjective_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 + 19.55sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.61sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[0m ×2 + 20.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 20.16sINFOobjective_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 + 20.19sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 20.28sINFOobjective_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 + 20.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.40sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 20.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 20.94sINFOobjective_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 + 20.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 21.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.18sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 21.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 21.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 21.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 21.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 21.76sINFOmove_groupClearing octomap...[0m ×2 + 21.76sINFOmove_groupOctomap cleared.[0m ×2 + 21.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 21.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 21.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 22.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 22.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 22.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.35sINFOvacuum_gripperReceived & accepted new action goal + 22.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 22.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 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 2.060624 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060624 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2).[0m ×2 + 1.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 1.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 1.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 1.68sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 1.68sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_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=\"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: "" + 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 2.75sINFOobjective_server_nodeobjective_name: "" ×12 + 2.75sINFOobjective_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 + 2.75sINFOobjective_server_node ×60 + 2.75sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.75sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.75sINFOobjective_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 + 2.75sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.75sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.75sINFOobjective_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 + 2.75sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.75sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.75sINFOobjective_server_node</Control> ×24 + 2.75sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.75sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.75sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.75sINFOobjective_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 + 2.75sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×18 + 2.75sINFOobjective_server_nodecaller: ×18 + 2.75sINFOobjective_server_nodetype: 0 ×18 + 2.75sINFOobjective_server_nodename: "" ×18 + 2.75sINFOobjective_server_nodeinstance_id: "" ×18 + 2.78sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 2.91sINFOobjective_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 + 2.91sINFOobjective_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 + 2.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 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=\"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: "" + 3.54sINFOobjective_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=\"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 + 3.57sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 3.66sINFOobjective_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 + 3.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_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 + 4.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.15sINFOmove_groupClearing octomap...[0m ×2 + 5.15sINFOmove_groupOctomap cleared.[0m ×2 + 5.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 6.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2
✓ passed	—	hover_fails	0.8s	6 errors · 18 warnings · 717 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2).[0m ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.57sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.58sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.59sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.59sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.65sINFOobjective_server_nodeobjective_name: "" ×12 + 1.65sINFOobjective_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 + 1.65sINFOobjective_server_node ×64 + 1.65sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.65sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.65sINFOobjective_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 + 1.65sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.65sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.65sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.65sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.65sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.65sINFOobjective_server_node</Control> ×24 + 1.65sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.65sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.65sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.66sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.66sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.66sINFOobjective_server_nodecaller: ×22 + 1.66sINFOobjective_server_nodetype: 0 ×22 + 1.66sINFOobjective_server_nodename: "" ×22 + 1.66sINFOobjective_server_nodeinstance_id: "" ×22 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 1.81sINFOobjective_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=\"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 + 1.81sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_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: "" + 2.45sINFOobjective_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 + 2.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 2.57sINFOobjective_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 + 2.62sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.05sINFOmove_groupClearing octomap...[0m ×2 + 4.05sINFOmove_groupOctomap cleared.[0m ×2 + 4.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 6.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3
✓ 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 2.733707 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2).[0m ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×12 + 0.57sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×24 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×22 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×24 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×44 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×48 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×24 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×24 + 0.58sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×12 + 0.58sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×24 + 0.59sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×12 + 0.59sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×24 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.65sINFOobjective_server_nodeobjective_name: "" ×12 + 1.65sINFOobjective_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 + 1.65sINFOobjective_server_node ×66 + 1.65sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.65sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.65sINFOobjective_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 + 1.65sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.65sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.65sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.65sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.65sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.65sINFOobjective_server_node</Control> ×24 + 1.65sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.65sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.65sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.66sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.66sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.66sINFOobjective_server_nodecaller: ×24 + 1.66sINFOobjective_server_nodetype: 0 ×24 + 1.66sINFOobjective_server_nodename: "" ×24 + 1.66sINFOobjective_server_nodeinstance_id: "" ×24 + 1.69sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 1.81sINFOobjective_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=\"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 + 1.81sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_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: "" + 2.45sINFOobjective_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 + 2.48sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 2.57sINFOobjective_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 + 2.62sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.26sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 4.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 4.05sINFOmove_groupClearing octomap...[0m ×4 + 4.05sINFOmove_groupOctomap cleared.[0m ×4 + 4.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 4.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 4.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.64sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 5.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.35sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 6.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.66sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.44sINFOobjective_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 + 7.44sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 7.44sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3
✓ 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 2.784309 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784309 ms (missed cycles : 2).[0m ×2 + 0.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060624 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060624 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733707 ms (missed cycles : 2).[0m ×2 + 2.67sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.67sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.69sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.69sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_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=\"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: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.75sINFOobjective_server_nodeobjective_name: "" ×12 + 3.75sINFOobjective_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 + 3.75sINFOobjective_server_node ×58 + 3.75sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.75sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.75sINFOobjective_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 + 3.75sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.75sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.75sINFOobjective_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 + 3.75sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.75sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.75sINFOobjective_server_node</Control> ×24 + 3.75sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.75sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.75sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.76sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 3.76sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.76sINFOobjective_server_nodecaller: ×16 + 3.76sINFOobjective_server_nodetype: 0 ×16 + 3.76sINFOobjective_server_nodename: "" ×16 + 3.76sINFOobjective_server_nodeinstance_id: "" ×16 + 3.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 3.91sINFOobjective_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 + 3.91sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_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: "" + 4.55sINFOobjective_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 + 4.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 4.67sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 5.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.15sINFOmove_groupClearing octomap...[0m ×2 + 6.15sINFOmove_groupOctomap cleared.[0m ×2 + 6.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 6.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.75sINFOvacuum_gripperReceived & accepted new action goal + 6.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 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	71.2s	3 errors · 230 warnings · 300 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.800ms + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795111 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795111 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.898ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284644 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284644 ms (missed cycles : 2).[0m ×2 + 1.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.402ms + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.135ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930258 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930258 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_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 + 2.72sINFOjoint_trajectory_controllerGot request to cancel goal + 2.72sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.73sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.73sINFOros2_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: 1793237729.54666901 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.74sINFOcontroller_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 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.76sINFOstate_estimatorReceived a set_pose request (stamp: 1793237729563600701, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.830ms + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-0.81, 3.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-1.71, 3.81) 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 - 8.921ms + 3.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793237730.13225269 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 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084216 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084216 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033648 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033648 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.84sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.84sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.84sINFOros2_control_nodeAccepted new action goal[0m ×10 + 4.88sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 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, -1.1 deg)[0m ×4 + 4.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566747, y=-0.0171275, yaw=-0.0183637 + 4.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.333ms + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803136 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803136 ms (missed cycles : 2).[0m ×2 + 6.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.923ms + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197220 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197220 ms (missed cycles : 2).[0m ×2 + 7.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.260ms + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947149 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947149 ms (missed cycles : 2).[0m ×2 + 7.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.014ms + 8.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.217ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840980 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840980 ms (missed cycles : 2).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.789ms + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.225ms + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850403 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850403 ms (missed cycles : 2).[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.281ms + 10.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.016ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860648 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860648 ms (missed cycles : 2).[0m ×2 + 11.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.162ms + 11.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.153ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680725 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680725 ms (missed cycles : 2).[0m ×2 + 12.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.519ms + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.913ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322471 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322471 ms (missed cycles : 2).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.110ms + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.690ms + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202286 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202286 ms (missed cycles : 2).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.945ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431784 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431784 ms (missed cycles : 3).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.950ms + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.776ms ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005111 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005111 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.384ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.831ms + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774724 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774724 ms (missed cycles : 2).[0m ×2 + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.234ms + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.709ms + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239052 ms (missed cycles : 2). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239052 ms (missed cycles : 2).[0m ×2 + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.933ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.689ms + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261910 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261910 ms (missed cycles : 2).[0m ×2 + 20.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.216ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261626 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261626 ms (missed cycles : 3).[0m ×2 + 20.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.957ms + 21.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.129ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721556 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721556 ms (missed cycles : 2).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.399ms + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.289ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256466 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256466 ms (missed cycles : 2).[0m ×2 + 22.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.235ms + 23.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.232ms + 23.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396379 ms (missed cycles : 3). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396379 ms (missed cycles : 3).[0m ×2 + 24.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.594ms + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940682 ms (missed cycles : 2). + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940682 ms (missed cycles : 2).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.725ms + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.110ms + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756567 ms (missed cycles : 3). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756567 ms (missed cycles : 3).[0m ×2 + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.813ms + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.915ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231541 ms (missed cycles : 2). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231541 ms (missed cycles : 2).[0m ×2 + 26.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.640ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.223ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604563 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604563 ms (missed cycles : 2).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.319ms + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.208ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408014 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408014 ms (missed cycles : 3).[0m ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.078ms + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722606 ms (missed cycles : 2). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722606 ms (missed cycles : 2).[0m ×2 + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.053ms + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.008ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247805 ms (missed cycles : 2). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247805 ms (missed cycles : 2).[0m ×2 + 31.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.948ms + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.976ms + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246787 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246787 ms (missed cycles : 2).[0m ×2 + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979152 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979152 ms (missed cycles : 2).[0m ×2 + 33.21sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.21sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.990ms + 33.80sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259583 ms (missed cycles : 2). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259583 ms (missed cycles : 2).[0m ×2 + 34.46sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695524 ms (missed cycles : 2). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695524 ms (missed cycles : 2).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332056 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332056 ms (missed cycles : 2).[0m ×2 + 36.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.615ms + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084413 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084413 ms (missed cycles : 2).[0m ×2 + 37.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.847ms + 37.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.850ms + 38.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.207ms + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291789 ms (missed cycles : 2). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291789 ms (missed cycles : 2).[0m ×2 + 38.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.794ms + 39.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.611ms + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170374 ms (missed cycles : 3). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170374 ms (missed cycles : 3).[0m ×2 + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.528ms + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345313 ms (missed cycles : 2). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345313 ms (missed cycles : 2).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216498 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216498 ms (missed cycles : 3).[0m ×2 + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313521 ms (missed cycles : 2). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313521 ms (missed cycles : 2).[0m ×2 + 42.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.818ms + 43.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.039ms + 43.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502904 ms (missed cycles : 2). + 43.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502904 ms (missed cycles : 2).[0m ×2 + 43.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.921ms + 44.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.313ms + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134534 ms (missed cycles : 3). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134534 ms (missed cycles : 3).[0m ×2 + 44.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.742ms + 45.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.214ms + 45.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785125 ms (missed cycles : 2). + 45.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785125 ms (missed cycles : 2).[0m ×2 + 45.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.206ms + 46.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.471ms + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740545 ms (missed cycles : 2). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740545 ms (missed cycles : 2).[0m ×2 + 46.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.489ms + 47.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177338 ms (missed cycles : 2). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177338 ms (missed cycles : 2).[0m ×2 + 48.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.454ms + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727717 ms (missed cycles : 4). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727717 ms (missed cycles : 4).[0m ×2 + 48.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.531ms + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165574 ms (missed cycles : 2). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165574 ms (missed cycles : 2).[0m ×2 + 49.89sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 50.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035560 ms (missed cycles : 2). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035560 ms (missed cycles : 2).[0m ×2 + 51.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.196ms + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578316 ms (missed cycles : 3). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578316 ms (missed cycles : 3).[0m ×2 + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698252 ms (missed cycles : 2). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698252 ms (missed cycles : 2).[0m ×2 + 53.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.607ms + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964458 ms (missed cycles : 2). + 53.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964458 ms (missed cycles : 2).[0m ×2 + 54.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.260ms + 54.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634587 ms (missed cycles : 3). + 54.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634587 ms (missed cycles : 3).[0m ×2 + 55.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.691ms + 55.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.644ms + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022928 ms (missed cycles : 2). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022928 ms (missed cycles : 2).[0m ×2 + 56.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.164ms + 57.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853766 ms (missed cycles : 2). + 57.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853766 ms (missed cycles : 2).[0m ×2 + 57.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.350ms + 57.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.266ms + 58.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739329 ms (missed cycles : 2). + 58.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739329 ms (missed cycles : 2).[0m ×2 + 58.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.361ms + 58.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.564ms + 58.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.862ms + 59.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815990 ms (missed cycles : 3). + 59.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815990 ms (missed cycles : 3).[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.386ms + 60.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.462ms + 60.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170684 ms (missed cycles : 2). + 60.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170684 ms (missed cycles : 2).[0m ×2 + 61.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.647ms + 61.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567255 ms (missed cycles : 3). + 61.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567255 ms (missed cycles : 3).[0m ×2 + 62.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.839ms + 62.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564476 ms (missed cycles : 3). + 62.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564476 ms (missed cycles : 3).[0m ×2 + 62.84sINFOobjective_server_nodePlanning for 29 path waypoints. ×3 + 63.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087591 ms (missed cycles : 2). + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087591 ms (missed cycles : 2).[0m ×2 + 64.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229451 ms (missed cycles : 2). + 64.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229451 ms (missed cycles : 2).[0m ×2 + 65.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101359 ms (missed cycles : 2). + 65.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101359 ms (missed cycles : 2).[0m ×2 + 66.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317997 ms (missed cycles : 3). + 66.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317997 ms (missed cycles : 3).[0m ×2 + 66.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.593ms + 67.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.488ms + 67.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329626 ms (missed cycles : 2). + 67.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329626 ms (missed cycles : 2).[0m ×2 + 68.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.003ms + 68.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.991ms + 68.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125395 ms (missed cycles : 2). + 68.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125395 ms (missed cycles : 2).[0m ×2 + 69.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.428ms + 69.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622643 ms (missed cycles : 3). + 69.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622643 ms (missed cycles : 3).[0m ×2 + 69.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.409ms + 70.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.677ms + 70.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.215ms + 70.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097501 ms (missed cycles : 2). + 70.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097501 ms (missed cycles : 2).[0m ×2 + 71.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 71.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.559ms + 71.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.737ms + 71.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667050 ms (missed cycles : 2). + 71.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667050 ms (missed cycles : 2).[0m ×2 + 72.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.041ms + 72.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.154ms + 72.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258296 ms (missed cycles : 2). + 72.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258296 ms (missed cycles : 2).[0m ×2 + 73.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793237800.74245405 seconds ×3 + 73.95sINFOstate_estimatorReceived a set_pose request (stamp: 1793237800758379758, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 74.04sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 14.21) is out of map bounds (-4.15, 5.70) to (0.83, 10.68). The costmap cannot raytrace for it. + 74.04sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 13.85) is out of map bounds (-4.15, 5.70) to (0.83, 10.68). The costmap cannot raytrace for it. + 74.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045338 ms (missed cycles : 2). + 74.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045338 ms (missed cycles : 2).[0m ×2 + 74.14sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 14.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 74.14sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 13.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 74.15sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.297ms + 74.35sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 21.625ms + 74.35sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 74.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 74.46sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 74.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793237801.30850387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 74.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 16.414ms + 75.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652170 ms (missed cycles : 2). + 75.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652170 ms (missed cycles : 2).[0m ×2 + 76.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001402 ms (missed cycles : 2). + 76.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001402 ms (missed cycles : 2).[0m ×2 + 77.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372552 ms (missed cycles : 2). + 77.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372552 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.4s	184 warnings · 245 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.267ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.267ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.297ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 0.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.348ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.550ms + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.992ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.804ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832518 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832518 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.523ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.245ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177676 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177676 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.350ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793237572.42910576 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1793237572445156521, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 3.13sINFOamclParticle filter update iteration stats: 1502 particles 811 points - 5.143ms + 3.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.13sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570327, y=-0.0171766, yaw=-0.0183971 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 15.658ms + 3.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793237573.00604653 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 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807295 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807295 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 4.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133394 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133394 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.86sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.86sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.86sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179690 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179690 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955600 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955600 ms (missed cycles : 2).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.031ms + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.878ms + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888443 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888443 ms (missed cycles : 2).[0m ×2 + 8.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.308ms + 8.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.849ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314108 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314108 ms (missed cycles : 2).[0m ×2 + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.875ms + 9.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.672ms ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993580 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993580 ms (missed cycles : 2).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.778ms + 10.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.137ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034785 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034785 ms (missed cycles : 2).[0m ×2 + 11.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.165ms + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667033 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667033 ms (missed cycles : 2).[0m ×2 + 12.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.762ms + 12.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.020ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474114 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474114 ms (missed cycles : 2).[0m ×2 + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.425ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.963ms + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401343 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401343 ms (missed cycles : 3).[0m ×2 + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.114ms + 14.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.552ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254536 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254536 ms (missed cycles : 2).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.321ms + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.119ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350208 ms (missed cycles : 3). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350208 ms (missed cycles : 3).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.572ms + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.813ms + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225845 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225845 ms (missed cycles : 2).[0m ×2 + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.263ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.497ms + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702960 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702960 ms (missed cycles : 2).[0m ×2 + 18.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.966ms + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.070ms + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762973 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762973 ms (missed cycles : 2).[0m ×2 + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.863ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.994ms + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807395 ms (missed cycles : 2). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807395 ms (missed cycles : 2).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.207ms + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229506 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229506 ms (missed cycles : 2).[0m ×2 + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.757ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.288ms + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814001 ms (missed cycles : 2). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814001 ms (missed cycles : 2).[0m ×2 + 22.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.443ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.309ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102157 ms (missed cycles : 3). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102157 ms (missed cycles : 3).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.438ms + 24.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.754ms + 24.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259905 ms (missed cycles : 2). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259905 ms (missed cycles : 2).[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.870ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.475ms + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853888 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853888 ms (missed cycles : 2).[0m ×2 + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.905ms + 26.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.195ms + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207587 ms (missed cycles : 2). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207587 ms (missed cycles : 2).[0m ×2 + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.889ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.148ms + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620293 ms (missed cycles : 2). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620293 ms (missed cycles : 2).[0m ×2 + 28.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.224ms + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078982 ms (missed cycles : 2). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078982 ms (missed cycles : 2).[0m ×2 + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.868ms + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.775ms + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500171 ms (missed cycles : 2). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500171 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.018ms + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.892ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158529 ms (missed cycles : 2). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158529 ms (missed cycles : 2).[0m ×2 + 31.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.037ms ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.989ms + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773460 ms (missed cycles : 2). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773460 ms (missed cycles : 2).[0m ×2 + 33.27sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 33.30sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774082 ms (missed cycles : 3). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774082 ms (missed cycles : 3).[0m ×2 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905514 ms (missed cycles : 2). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905514 ms (missed cycles : 2).[0m ×2 + 35.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.059ms + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112727 ms (missed cycles : 2). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112727 ms (missed cycles : 2).[0m ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141118 ms (missed cycles : 2). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141118 ms (missed cycles : 2).[0m ×2 + 36.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.069ms + 37.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818171 ms (missed cycles : 2). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818171 ms (missed cycles : 2).[0m ×2 + 37.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.316ms + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299580 ms (missed cycles : 2). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299580 ms (missed cycles : 2).[0m ×2 + 39.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858197 ms (missed cycles : 2). + 39.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858197 ms (missed cycles : 2).[0m ×2 + 39.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.198ms + 40.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.112ms + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838625 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838625 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040270 ms (missed cycles : 3). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040270 ms (missed cycles : 3).[0m ×2 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324572 ms (missed cycles : 2). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324572 ms (missed cycles : 2).[0m ×2 + 43.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.495ms + 43.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497587 ms (missed cycles : 3). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497587 ms (missed cycles : 3).[0m ×2 + 43.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.079ms + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060197 ms (missed cycles : 2). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060197 ms (missed cycles : 2).[0m ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580343 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580343 ms (missed cycles : 2).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772690 ms (missed cycles : 2). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772690 ms (missed cycles : 2).[0m ×2 + 47.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.098ms + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268890 ms (missed cycles : 3). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268890 ms (missed cycles : 3).[0m ×2 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948392 ms (missed cycles : 3). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948392 ms (missed cycles : 3).[0m ×2 + 49.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.251ms + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432537 ms (missed cycles : 2). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432537 ms (missed cycles : 2).[0m ×2 + 50.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.374ms + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069497 ms (missed cycles : 2). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069497 ms (missed cycles : 2).[0m ×2 + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952561 ms (missed cycles : 2). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952561 ms (missed cycles : 2).[0m ×2 + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029075 ms (missed cycles : 2). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029075 ms (missed cycles : 2).[0m ×2 + 53.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.970ms + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638200 ms (missed cycles : 3). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638200 ms (missed cycles : 3).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715957 ms (missed cycles : 2). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715957 ms (missed cycles : 2).[0m ×2 + 56.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 56.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 57.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 58.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 59.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 59.18sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.27sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 59.27sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 59.37sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.37sWARNlocal_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. + 59.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 59.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 59.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 59.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.70sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 59.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 60.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 60.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 61.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 61.29sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 61.29sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 61.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 61.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 61.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 63.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 63.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.3s	182 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 1.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.31sINFOobjective_server_nodecaller: ×4 + 2.31sINFOobjective_server_nodetype: 0 ×4 + 2.31sINFOobjective_server_nodename: "" ×4 + 2.31sINFOobjective_server_nodeinstance_id: "" ×4 + 2.31sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal ×3 + 3.86sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 3.86sINFOros2_control_nodeReceived new action goal[0m ×6 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×6 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms + 6.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.221ms + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373433 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373433 ms (missed cycles : 3).[0m ×2 + 7.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.411ms + 7.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.051ms + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748292 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748292 ms (missed cycles : 2).[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.858ms + 8.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028435 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028435 ms (missed cycles : 2).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.952ms + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.944ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764361 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764361 ms (missed cycles : 3).[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.983ms + 10.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.888ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678023 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678023 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.296ms + 11.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.478ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825542 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825542 ms (missed cycles : 2).[0m ×2 + 12.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.151ms + 12.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.038ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998953 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998953 ms (missed cycles : 2).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.039ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.555ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352944 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352944 ms (missed cycles : 2).[0m ×2 + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.164ms + 15.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.955ms + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303779 ms (missed cycles : 4). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303779 ms (missed cycles : 4).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.507ms + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.050ms + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148266 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148266 ms (missed cycles : 2).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.635ms + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.873ms + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426917 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426917 ms (missed cycles : 2).[0m ×2 + 17.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.873ms + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737891 ms (missed cycles : 2). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737891 ms (missed cycles : 2).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.631ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.495ms + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742321 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742321 ms (missed cycles : 2).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.865ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.023ms + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096050 ms (missed cycles : 2). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096050 ms (missed cycles : 2).[0m ×2 + 20.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.188ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.300ms + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986966 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986966 ms (missed cycles : 3).[0m ×2 + 22.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.172ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016682 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016682 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.515ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.176ms + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595084 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595084 ms (missed cycles : 2).[0m ×2 + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.419ms + 24.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.055ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316072 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316072 ms (missed cycles : 2).[0m ×2 + 24.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.518ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.958ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717597 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717597 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.768ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.922ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870978 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870978 ms (missed cycles : 3).[0m ×2 + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.927ms + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.029ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768924 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768924 ms (missed cycles : 3).[0m ×2 + 28.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.099ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.987ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812053 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812053 ms (missed cycles : 2).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.894ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760756 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760756 ms (missed cycles : 2).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.771ms + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.426ms + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627749 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627749 ms (missed cycles : 2).[0m ×2 + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.574ms + 32.27sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 32.29sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799098 ms (missed cycles : 3). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799098 ms (missed cycles : 3).[0m ×2 + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384279 ms (missed cycles : 3). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384279 ms (missed cycles : 3).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100506 ms (missed cycles : 3). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100506 ms (missed cycles : 3).[0m ×2 + 34.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.025ms + 35.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152353 ms (missed cycles : 3). + 35.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152353 ms (missed cycles : 3).[0m ×2 + 36.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.778ms + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878092 ms (missed cycles : 2). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878092 ms (missed cycles : 2).[0m ×2 + 37.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428099 ms (missed cycles : 3). + 37.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428099 ms (missed cycles : 3).[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454934 ms (missed cycles : 3). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454934 ms (missed cycles : 3).[0m ×2 + 38.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.331ms + 39.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.193ms + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729437 ms (missed cycles : 2). + 40.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729437 ms (missed cycles : 2).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935590 ms (missed cycles : 2). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935590 ms (missed cycles : 2).[0m ×2 + 42.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.959ms + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525199 ms (missed cycles : 3). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525199 ms (missed cycles : 3).[0m ×2 + 42.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.252ms + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676579 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676579 ms (missed cycles : 2).[0m ×2 + 44.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751724 ms (missed cycles : 2). + 44.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751724 ms (missed cycles : 2).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528477 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528477 ms (missed cycles : 3).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.898ms + 46.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.921ms + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679473 ms (missed cycles : 2). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679473 ms (missed cycles : 2).[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898814 ms (missed cycles : 2). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898814 ms (missed cycles : 2).[0m ×2 + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906162 ms (missed cycles : 2). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906162 ms (missed cycles : 2).[0m ×2 + 48.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.815ms + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313277 ms (missed cycles : 2). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313277 ms (missed cycles : 2).[0m ×2 + 49.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.890ms + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869241 ms (missed cycles : 2). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869241 ms (missed cycles : 2).[0m ×2 + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113796 ms (missed cycles : 2). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113796 ms (missed cycles : 2).[0m ×2 + 52.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.140ms + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656854 ms (missed cycles : 2). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656854 ms (missed cycles : 2).[0m ×2 + 53.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.460ms + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383618 ms (missed cycles : 2). + 53.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383618 ms (missed cycles : 2).[0m ×2 + 54.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029521 ms (missed cycles : 2). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029521 ms (missed cycles : 2).[0m ×2 + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631995 ms (missed cycles : 3). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631995 ms (missed cycles : 3).[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.402ms + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975788 ms (missed cycles : 2). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975788 ms (missed cycles : 2).[0m ×2 + 58.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306272 ms (missed cycles : 2). + 58.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306272 ms (missed cycles : 2).[0m ×2 + 58.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793237863.38141203 seconds ×3 + 58.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.130ms + 58.09sINFOstate_estimatorReceived a set_pose request (stamp: 1793237863398708939, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.13sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.20, 0.00) to (1.78, 4.98). The costmap cannot raytrace for it. + 58.13sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.20, 0.00) to (1.78, 4.98). The costmap cannot raytrace for it. + 58.23sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 58.23sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 58.26sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.345ms + 58.33sWARNlocal_costmap.local_costmapSensor origin at (-0.83, 4.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.33sWARNlocal_costmap.local_costmapSensor origin at (-1.73, 4.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.46sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 21.467ms + 58.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 58.46sINFOamclInitializing particles from estimated pose and covariance + 58.46sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 58.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569877, y=-0.0171758, yaw=-0.0183905 + 58.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.60sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 58.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.204ms + 58.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793237863.96609759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 59.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107531 ms (missed cycles : 2). + 59.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107531 ms (missed cycles : 2).[0m ×2 + 59.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 60.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903608 ms (missed cycles : 2). + 60.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903608 ms (missed cycles : 2).[0m ×2 + 61.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792898 ms (missed cycles : 2). + 61.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792898 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.1s	180 warnings · 244 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.014ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237666.44408536 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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 + 2.80sINFOros2_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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1793237666465445270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.12) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.15) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_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 + 2.99sWARNlocal_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 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.251ms + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.14sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570531, y=-0.0171762, yaw=-0.018397 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.33sINFOobjective_server_nodetype: 0 ×4 + 3.33sINFOobjective_server_nodename: "" ×4 + 3.33sINFOobjective_server_nodeinstance_id: "" ×4 + 3.33sINFOobjective_server_node ×4 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.726ms + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237667.02702785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.88sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.88sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.88sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms + 7.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.226ms + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168304 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168304 ms (missed cycles : 2).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.162ms ×2 + 8.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.567ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702446 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702446 ms (missed cycles : 2).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 9.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.919ms + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035328 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035328 ms (missed cycles : 2).[0m ×2 + 10.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.826ms + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.727ms + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743187 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743187 ms (missed cycles : 2).[0m ×2 + 11.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.419ms + 11.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.493ms + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056487 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056487 ms (missed cycles : 2).[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.873ms + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.503ms + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680060 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680060 ms (missed cycles : 2).[0m ×2 + 13.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.940ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422650 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422650 ms (missed cycles : 3).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.496ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.150ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202424 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202424 ms (missed cycles : 2).[0m ×2 + 15.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.892ms + 15.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.875ms + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817425 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817425 ms (missed cycles : 2).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.062ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432998 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432998 ms (missed cycles : 2).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.103ms + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.118ms + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747228 ms (missed cycles : 2). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747228 ms (missed cycles : 2).[0m ×2 + 18.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.522ms + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.821ms + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259400 ms (missed cycles : 2). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259400 ms (missed cycles : 2).[0m ×2 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.847ms + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692745 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692745 ms (missed cycles : 2).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.867ms + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.020ms + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211420 ms (missed cycles : 2). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211420 ms (missed cycles : 2).[0m ×2 + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.630ms + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.455ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958054 ms (missed cycles : 3). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958054 ms (missed cycles : 3).[0m ×2 + 22.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.394ms + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.388ms + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193806 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193806 ms (missed cycles : 2).[0m ×2 + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.032ms + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.848ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652176 ms (missed cycles : 2). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652176 ms (missed cycles : 2).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.593ms + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.205ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991844 ms (missed cycles : 2). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991844 ms (missed cycles : 2).[0m ×2 + 26.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.771ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780062 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780062 ms (missed cycles : 2).[0m ×2 + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.321ms + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.544ms + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320463 ms (missed cycles : 2). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320463 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.714ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.936ms + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575899 ms (missed cycles : 3). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575899 ms (missed cycles : 3).[0m ×2 + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.889ms + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.330ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756665 ms (missed cycles : 2). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756665 ms (missed cycles : 2).[0m ×2 + 30.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.759ms + 31.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.746ms ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283424 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283424 ms (missed cycles : 2).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.542ms + 32.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912371 ms (missed cycles : 2). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912371 ms (missed cycles : 2).[0m ×2 + 32.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.128ms + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062826 ms (missed cycles : 2). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062826 ms (missed cycles : 2).[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418768 ms (missed cycles : 3). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418768 ms (missed cycles : 3).[0m ×2 + 34.74sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874333 ms (missed cycles : 2). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874333 ms (missed cycles : 2).[0m ×2 + 35.36sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788697 ms (missed cycles : 2). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788697 ms (missed cycles : 2).[0m ×2 + 36.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.624ms + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726207 ms (missed cycles : 3). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726207 ms (missed cycles : 3).[0m ×2 + 37.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.318ms + 38.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.314ms + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329970 ms (missed cycles : 2). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329970 ms (missed cycles : 2).[0m ×2 + 38.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.273ms + 38.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.390ms + 39.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.176ms + 39.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914867 ms (missed cycles : 2). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914867 ms (missed cycles : 2).[0m ×2 + 39.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.247ms + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237575 ms (missed cycles : 3). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237575 ms (missed cycles : 3).[0m ×2 + 40.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.506ms + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483140 ms (missed cycles : 3). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483140 ms (missed cycles : 3).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413119 ms (missed cycles : 2). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413119 ms (missed cycles : 2).[0m ×2 + 43.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.875ms + 43.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032079 ms (missed cycles : 2). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032079 ms (missed cycles : 2).[0m ×2 + 44.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.953ms + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487332 ms (missed cycles : 2). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487332 ms (missed cycles : 2).[0m ×2 + 44.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.461ms + 45.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.256ms + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213833 ms (missed cycles : 3). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213833 ms (missed cycles : 3).[0m ×2 + 45.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.074ms + 46.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.534ms + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935511 ms (missed cycles : 2). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935511 ms (missed cycles : 2).[0m ×2 + 47.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.927ms + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006219 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006219 ms (missed cycles : 2).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.112ms + 48.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.827ms + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516891 ms (missed cycles : 3). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516891 ms (missed cycles : 3).[0m ×2 + 49.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.679ms + 49.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.151ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084423 ms (missed cycles : 2). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084423 ms (missed cycles : 2).[0m ×2 + 50.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.779ms + 50.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.759ms + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583345 ms (missed cycles : 2). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583345 ms (missed cycles : 2).[0m ×2 + 51.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.312ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406757 ms (missed cycles : 3). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406757 ms (missed cycles : 3).[0m ×2 + 52.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.340ms + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093536 ms (missed cycles : 2). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093536 ms (missed cycles : 2).[0m ×2 + 54.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912404 ms (missed cycles : 2). + 54.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912404 ms (missed cycles : 2).[0m ×2 + 54.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.009ms + 54.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793237718.51725960 seconds ×3 + 54.88sINFOstate_estimatorReceived a set_pose request (stamp: 1793237718535243570, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 54.89sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.04) is out of map bounds (-2.85, -1.10) to (2.13, 3.88). The costmap cannot raytrace for it. + 54.89sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.63) is out of map bounds (-2.85, -1.10) to (2.13, 3.88). The costmap cannot raytrace for it. + 54.99sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 54.99sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 55.09sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.09sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.11sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.363ms + 55.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883364 ms (missed cycles : 2). + 55.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883364 ms (missed cycles : 2).[0m ×2 + 55.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.45sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793237719.10860252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145030 ms (missed cycles : 2). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145030 ms (missed cycles : 2).[0m ×2 + 56.99sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566939, y=-0.0171808, yaw=-0.0183891 + 57.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.560ms + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790518 ms (missed cycles : 2). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790518 ms (missed cycles : 2).[0m ×2 + 58.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621180 ms (missed cycles : 3). + 58.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621180 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	141 warnings · 412 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.71sINFOobjective_server_nodecaller: ×12 + 0.71sINFOobjective_server_nodetype: 0 ×12 + 0.71sINFOobjective_server_nodename: "" ×12 + 0.71sINFOobjective_server_nodeinstance_id: "" ×12 + 0.71sINFOobjective_server_node ×12 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.81sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254365 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254365 ms (missed cycles : 2).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 1108 particles 811 points - 5.488ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930895 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930895 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965480 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965480 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818362 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818362 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505581 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505581 ms (missed cycles : 3).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770939 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770939 ms (missed cycles : 2).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795281 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795281 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602176 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602176 ms (missed cycles : 2).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782606 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782606 ms (missed cycles : 3).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198329 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198329 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061161 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061161 ms (missed cycles : 2).[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084825 ms (missed cycles : 2). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084825 ms (missed cycles : 2).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745846 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745846 ms (missed cycles : 2).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.749ms + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159780 ms (missed cycles : 2). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159780 ms (missed cycles : 2).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896160 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896160 ms (missed cycles : 2).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317210 ms (missed cycles : 2). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317210 ms (missed cycles : 2).[0m ×2 + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010250 ms (missed cycles : 2). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010250 ms (missed cycles : 2).[0m ×2 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412787 ms (missed cycles : 3). + 24.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412787 ms (missed cycles : 3).[0m ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267433 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267433 ms (missed cycles : 2).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438028 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438028 ms (missed cycles : 3).[0m ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802960 ms (missed cycles : 2). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802960 ms (missed cycles : 2).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842030 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842030 ms (missed cycles : 2).[0m ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649253 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649253 ms (missed cycles : 2).[0m ×2 + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969365 ms (missed cycles : 2). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969365 ms (missed cycles : 2).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300371 ms (missed cycles : 2). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300371 ms (missed cycles : 2).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000492 ms (missed cycles : 2). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000492 ms (missed cycles : 2).[0m ×2 + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961534 ms (missed cycles : 2). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961534 ms (missed cycles : 2).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591425 ms (missed cycles : 3). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591425 ms (missed cycles : 3).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899457 ms (missed cycles : 2). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899457 ms (missed cycles : 2).[0m ×2 + 37.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.449ms + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827813 ms (missed cycles : 2). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827813 ms (missed cycles : 2).[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192736 ms (missed cycles : 2). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192736 ms (missed cycles : 2).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688134 ms (missed cycles : 2). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688134 ms (missed cycles : 2).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627031 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627031 ms (missed cycles : 2).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000030 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000030 ms (missed cycles : 2).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873414 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873414 ms (missed cycles : 2).[0m ×2 + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2).[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2).[0m ×2 + 46.30sINFOjoint_trajectory_controllerGoal reached, success! + 46.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237566.65466380 seconds ×3 + 46.34sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.34sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.37sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.37sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.37sINFOstate_estimatorReceived a set_pose request (stamp: 1793237566673860980, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.696ms + 46.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.133ms + 46.72sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 46.72sINFOamclInitializing particles from estimated pose and covariance + 46.73sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 46.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570009, y=-0.0171756, yaw=-0.0183907 + 46.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.88sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237567.22892880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.506ms + 46.93sWARNobjective_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 + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2).[0m ×2 + 47.69sINFOobjective_server_nodeFound path in 0 iterations (5.0622e-05 s). ×2 + 47.72sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.820ms + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.385ms + 49.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.137ms + 49.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.267ms + 49.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.267ms + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2).[0m ×2 + 49.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.297ms + 49.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 50.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.348ms + 50.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.550ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.5s	111 warnings · 193 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187510 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187510 ms (missed cycles : 2).[0m ×2 + 1.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.17sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793237634.95440292 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781921 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781921 ms (missed cycles : 2).[0m ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856071 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856071 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.71sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.71sINFOobjective_server_nodecaller: ×4 + 2.71sINFOobjective_server_nodetype: 0 ×4 + 2.71sINFOobjective_server_nodename: "" ×4 + 2.71sINFOobjective_server_nodeinstance_id: "" ×4 + 2.71sINFOobjective_server_node ×4 + 2.75sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793237636.53373766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047482 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047482 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934221 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934221 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957855 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957855 ms (missed cycles : 2).[0m ×2 + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.977ms + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009861 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009861 ms (missed cycles : 2).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.364ms + 7.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.764ms + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341386 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341386 ms (missed cycles : 2).[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.074ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042662 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042662 ms (missed cycles : 2).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.771ms + 9.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285743 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285743 ms (missed cycles : 2).[0m ×2 + 9.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.989ms + 10.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.933ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733599 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733599 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.934ms + 11.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.199ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013150 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013150 ms (missed cycles : 2).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.080ms + 12.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813841 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813841 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.384ms + 13.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.924ms + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724904 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724904 ms (missed cycles : 2).[0m ×2 + 14.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.919ms + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.121ms + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758362 ms (missed cycles : 3). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758362 ms (missed cycles : 3).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.086ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.004ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751257 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751257 ms (missed cycles : 2).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.800ms + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864567 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864567 ms (missed cycles : 2).[0m ×2 + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.183ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.860ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667212 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667212 ms (missed cycles : 2).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.932ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.972ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674949 ms (missed cycles : 3). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674949 ms (missed cycles : 3).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.019ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.118ms + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832604 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832604 ms (missed cycles : 2).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.975ms + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.155ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763158 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763158 ms (missed cycles : 2).[0m ×2 + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.449ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327994 ms (missed cycles : 2). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327994 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.704ms + 23.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.302ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624699 ms (missed cycles : 2). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624699 ms (missed cycles : 2).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.539ms + 24.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.511ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987352 ms (missed cycles : 2). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987352 ms (missed cycles : 2).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.708ms + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.233ms + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607706 ms (missed cycles : 3). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607706 ms (missed cycles : 3).[0m ×2 + 26.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.325ms + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.605ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945624 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945624 ms (missed cycles : 2).[0m ×2 + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.957ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.109ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555590 ms (missed cycles : 3). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555590 ms (missed cycles : 3).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.971ms + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145377 ms (missed cycles : 2). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145377 ms (missed cycles : 2).[0m ×2 + 28.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.114ms + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.117ms + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3).[0m ×2 + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.014ms + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2).[0m ×2 + 32.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237666.44408536 seconds ×3 + 32.69sINFOstate_estimatorReceived a set_pose request (stamp: 1793237666465445270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 32.77sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.12) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 32.77sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.15) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 32.87sWARNlocal_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 + 32.87sWARNlocal_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 + 33.02sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.251ms + 33.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 33.02sINFOamclInitializing particles from estimated pose and covariance + 33.02sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 33.02sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570531, y=-0.0171762, yaw=-0.018397 + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2).[0m ×2 + 33.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 33.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 33.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.726ms + 33.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237667.02702785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.56sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2). + 34.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.6s	65 warnings · 261 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631995 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631995 ms (missed cycles : 3).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.402ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975788 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975788 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306272 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306272 ms (missed cycles : 2).[0m ×2 + 2.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.17sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793237863.38141203 seconds ×3 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.130ms + 2.19sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.19sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.21sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.21sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.21sINFOstate_estimatorReceived a set_pose request (stamp: 1793237863398708939, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.25sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-3.20, 0.00) to (1.78, 4.98). The costmap cannot raytrace for it. + 2.25sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-3.20, 0.00) to (1.78, 4.98). The costmap cannot raytrace for it. + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.60) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.35sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.345ms + 2.45sWARNlocal_costmap.local_costmapSensor origin at (-0.83, 4.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.45sWARNlocal_costmap.local_costmapSensor origin at (-1.73, 4.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.58sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 21.467ms + 2.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 2.58sINFOamclInitializing particles from estimated pose and covariance ×2 + 2.58sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 2.58sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569877, y=-0.0171758, yaw=-0.0183905 + 2.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.73sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.73sINFOobjective_server_nodecaller: ×6 + 2.73sINFOobjective_server_nodetype: 0 ×6 + 2.73sINFOobjective_server_nodename: "" ×6 + 2.73sINFOobjective_server_nodeinstance_id: "" ×6 + 2.73sINFOobjective_server_node ×6 + 2.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.204ms + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793237863.96609759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.05sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107531 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107531 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903608 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903608 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792898 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792898 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757273 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757273 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841261 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841261 ms (missed cycles : 2).[0m ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675906 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675906 ms (missed cycles : 3).[0m ×2 + 9.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 9.53sINFOobjective_server_nodeFound path in 33 iterations (0.0202012 s). ×2 + 9.80sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323697 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323697 ms (missed cycles : 2).[0m ×2 + 10.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 10.31sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.65sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 10.84sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615418 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615418 ms (missed cycles : 2).[0m ×2 + 12.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647640 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647640 ms (missed cycles : 2).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.049ms + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.187ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946716 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946716 ms (missed cycles : 2).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.155ms + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.861ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847898 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847898 ms (missed cycles : 2).[0m ×2 + 15.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.285ms + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3).[0m ×2 + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.143ms + 16.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237878.02914977 seconds ×3 + 16.86sINFOstate_estimatorReceived a set_pose request (stamp: 1793237878048887934, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3).[0m ×2 + 17.08sINFOamclParticle filter update iteration stats: 2114 particles 811 points - 4.970ms + 17.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 17.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237878.63483047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.45sINFOmove_groupClearing octomap...[0m ×2 + 17.45sINFOmove_groupOctomap cleared.[0m ×2 + 17.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 17.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2).[0m ×2 + 18.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237879.39499831 seconds ×3 + 18.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.73sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 18.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237879.96164036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.97sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171816, yaw=-0.0184022 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.743ms + 19.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237880.70180917 seconds ×3 + 19.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	119 errors · 30 warnings · 586 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.285ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.143ms + 1.45sINFOjoint_trajectory_controllerGoal reached, success! + 1.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237878.02914977 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.48sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.49sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.50sINFOstate_estimatorReceived a set_pose request (stamp: 1793237878048887934, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 2114 particles 811 points - 4.970ms + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.01sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.01sINFOobjective_server_nodecaller: ×4 + 2.01sINFOobjective_server_nodetype: 0 ×4 + 2.01sINFOobjective_server_nodename: "" ×4 + 2.01sINFOobjective_server_nodeinstance_id: "" ×4 + 2.01sINFOobjective_server_node ×4 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237878.63483047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237879.39499831 seconds ×3 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237879.96164036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.61sINFOamclInitializing particles from estimated pose and covariance + 3.61sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171816, yaw=-0.0184022 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2).[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.743ms + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237880.70180917 seconds ×3 + 4.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725487 ms (missed cycles : 3). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725487 ms (missed cycles : 3).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178258 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178258 ms (missed cycles : 2).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775806 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775806 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757280 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757280 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089485 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089485 ms (missed cycles : 2).[0m ×2 + 10.51sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.52sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.52sERRORweb_video_auth_proxy-41process has died [pid 8257, 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 + 10.52sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORweb_bridge_auth_proxy-40process has died [pid 8256, 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 + 10.52sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.56sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.57sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.57sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.58sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.59sINFOvideo_server-39process has finished cleanly [pid 8254] ×2 + 10.59sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.60sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.61sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.61sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.62sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.63sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.64sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.65sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.66sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.67sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.68sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.70sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.70sINFOcontroller_managerShutdown request received.... + 10.70sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.70sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.70sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down the controller manager. + 10.71sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.72sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.72sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.73sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.74sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.74sERRORmove_group-25process has died [pid 8218, 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_0ft_aju6 --params-file /tmp/launch_params_alxa_q80 --params-file /tmp/launch_params__pz0rjnh --params-file /tmp/launch_params_qeqxqfsm --params-file /tmp/launch_params_vub8fn4y --params-file /tmp/launch_params_62e33izi']. ×2 + 10.75sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.76sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.77sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.78sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.79sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.80sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.80sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.80sINFOmap_serverDeactivating + 10.80sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.81sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.81sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.81sINFOcontroller_serverDeactivating + 10.81sINFOlocal_costmap.local_costmapDeactivating + 10.81sINFOvideo_server2026/10/29 01:38:07 INF shutting down gracefully ×2 + 10.81sINFOvideo_server2026/10/29 01:38:07 INF [WebRTC] closing ×2 + 10.81sINFOvideo_server2026/10/29 01:38:07 INF [RTSP] closing ×2 + 10.81sINFOvideo_server2026/10/29 01:38:07 INF waiting for running hooks ×2 + 10.81sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOmap_serverCleaning up + 10.81sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.81sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.81sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.81sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.81sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.81sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.81sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.82sERRORmove_groupStack trace (most recent call last) in thread 8884: ×2 + 10.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.82sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.82sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e4979ccc3, in __clone ×2 + 10.82sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e4970fb83, in ×2 + 10.82sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e499a2db3, in ×2 + 10.82sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f9e4a10ae94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.82sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e49d34620, in rclcpp::Rate::sleep() ×2 + 10.82sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e49c76d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.82sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e49c38087, in ×2 + 10.82sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e49971390, in __cxa_throw ×2 + 10.82sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e4995ba54, in std::terminate() ×2 + 10.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.82sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×4 + 10.82sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e499710d9, in ×2 + 10.82sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e4995bff4, in ×2 + 10.82sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e4969b8fe, in abort ×2 + 10.82sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e496b827d, in raise ×2 + 10.82sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e49711c0c, in pthread_kill ×2 + 10.82sERRORmove_groupAborted (Signal sent by tkill() 8218 0) ×2 + 10.82sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.82sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.82sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.82sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sERRORamclThe bond connection to the lifecycle manager has been broken + 10.89sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.90sINFOcontroller_serverCleaning up + 10.90sINFOlocal_costmap.local_costmapCleaning up + 10.91sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.91sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.92sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.95sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.95sINFOsmoother_serverDeactivating + 10.95sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.96sINFOsmoother_serverCleaning up + 10.97sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.97sINFOplanner_serverDeactivating + 10.97sINFOglobal_costmap.global_costmapDeactivating + 10.98sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.98sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.98sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.98sINFOvelocity_smootherDeactivating + 10.98sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.10sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.10sINFOwaypoint_followerDeactivating + 11.10sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.21sINFObt_navigatorDeactivating + 11.21sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.31sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.31sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.32sINFOplanner_serverCleaning up + 11.32sINFObehavior_serverDeactivating + 11.32sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.34sINFOglobal_costmap.global_costmapCleaning up + 11.35sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.35sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.39sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.39sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.39sINFObt_navigatorCleaning up + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.44sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.44sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.44sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.44sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.45sINFOvelocity_smootherCleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.45sINFOwaypoint_followerCleaning up + 11.48sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.51sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.51sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.51sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.51sINFObehavior_serverCleaning up + 11.54sINFObt_navigatorCompleted Cleaning up + 11.54sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.54sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.54sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.57sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.57sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.57sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.57sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.57sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.57sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.57sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.61sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.61sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.61sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.61sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOjoint_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 + 11.61sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.61sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.61sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.61sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.61sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.61sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.61sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.61sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.61sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.61sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.61sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.61sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.62sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.62sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.62sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.62sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.62sINFOtf_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 + 11.63sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.63sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.63sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.63sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.63sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.63sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8253] ×2 + 11.63sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.63sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.63sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.63sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.63sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.63sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.63sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.63sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.63sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.63sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.63sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.67sERRORjoint_state_visualization_relay-37process has died [pid 8250, 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_5u6rbxwd']. ×2 + 11.67sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.68sERRORtf_visualization_relay-36process has died [pid 8249, 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_ur_9atw8']. ×2 + 11.69sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.71sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8230] ×2 + 11.72sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8225] ×2 + 11.72sINFOexecute_objective_bridge-33process has finished cleanly [pid 8242] ×2 + 11.72sINFOui_teleop_bridge-34process has finished cleanly [pid 8245] ×2 + 11.76sINFOparameter_manager_node-26process has finished cleanly [pid 8221] ×2 + 11.77sINFOrelay-11process has finished cleanly [pid 8150] ×2 + 11.79sINFOrelay-10process has finished cleanly [pid 8149] ×2 + 11.79sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8045] ×2 + 11.80sINFOwaypoint_manager_node-27process has finished cleanly [pid 8224] ×2 + 11.80sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8044] ×2 + 11.81sINFOstatic_transform_publisher-7process has finished cleanly [pid 8043] ×2 + 11.81sINFOstatic_transform_publisher-6process has finished cleanly [pid 8042] ×2 + 11.81sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8151] ×2 + 11.81sINFOcomponent_container_mt-32process has finished cleanly [pid 8241] ×2 + 11.82sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.82sINFOlidar_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 + 11.82sINFOlidar_flattener.pymain() ×2 + 11.82sINFOlidar_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 + 11.82sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.82sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.82sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.82sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.82sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.82sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.82sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.82sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.82sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.82sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.83sINFOstatic_transform_publisher-3process has finished cleanly [pid 8039] ×2 + 11.85sERRORlidar_flattener.py-5process has died [pid 8041, 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_45t2fl7b']. ×2 + 11.87sERRORcomponent_container_isolated-1process has died [pid 8037, 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_dqxazdiz --params-file /tmp/launch_params_l4jdum4n -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.87sINFOobjective_server_node[2026-10-29 01:38:08.430] [moveit_pro_license] [critical] ×2 + 11.87sINFOobjective_server_node************************************************* ×4 + 11.87sINFOobjective_server_node* MoveIt Pro License ×2 + 11.87sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.04sINFOobjective_server_node_main-30process has finished cleanly [pid 8237] ×2 + 12.04sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.11sERRORcomponent_container_isolated-2process has died [pid 8038, 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_dqxazdiz --params-file /tmp/launch_params_ukc12alo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.82sINFOodom_world_drift-4process has finished cleanly [pid 8040] ×2 + 12.87sINFOcomponent_container_mt-31process has finished cleanly [pid 8240] ×2 + 13.38sINFOweb_bridge-35process has finished cleanly [pid 8248] ×2 + 13.38sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 + 13.47sINFOros2_control_node-13process has finished cleanly [pid 8152] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 61 warnings · 173 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406757 ms (missed cycles : 3).[0m ×2 + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.340ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093536 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093536 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912404 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912404 ms (missed cycles : 2).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.009ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793237718.51725960 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793237718535243570, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.04) is out of map bounds (-2.85, -1.10) to (2.13, 3.88). The costmap cannot raytrace for it. + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.63) is out of map bounds (-2.85, -1.10) to (2.13, 3.88). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.87sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 6.363ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883364 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883364 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793237719.10860252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145030 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145030 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.87sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.87sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566939, y=-0.0171808, yaw=-0.0183891 + 4.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.560ms + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790518 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790518 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621180 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621180 ms (missed cycles : 3).[0m ×2 + 7.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.023ms + 7.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.339ms + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778160 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778160 ms (missed cycles : 2).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.115ms + 8.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.122ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550562 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550562 ms (missed cycles : 2).[0m ×2 + 9.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.428ms + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.342ms + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993675 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993675 ms (missed cycles : 3).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.521ms + 11.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.800ms + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795111 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795111 ms (missed cycles : 2).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.898ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284644 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284644 ms (missed cycles : 2).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.402ms + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.135ms + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930258 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930258 ms (missed cycles : 2).[0m ×2 + 13.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.76sINFOjoint_trajectory_controllerGot request to cancel goal + 13.76sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.76sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.76sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.77sERRORobjective_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: 1793237729.54666901 seconds ×3 + 13.80sINFOstate_estimatorReceived a set_pose request (stamp: 1793237729563600701, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.830ms + 13.97sWARNlocal_costmap.local_costmapSensor origin at (-0.81, 3.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.97sWARNlocal_costmap.local_costmapSensor origin at (-1.71, 3.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 14.09sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.921ms + 14.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793237730.13225269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084216 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084216 ms (missed cycles : 2).[0m ×2 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033648 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033648 ms (missed cycles : 2).[0m ×2 + 15.92sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566747, y=-0.0171275, yaw=-0.0183637 + 16.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.333ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803136 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803136 ms (missed cycles : 2).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.923ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197220 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197220 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.1s	43 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2 + 7.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187510 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187510 ms (missed cycles : 2).[0m ×2 + 8.83sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793237634.95440292 seconds ×3 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781921 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781921 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856071 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856071 ms (missed cycles : 2).[0m ×2 + 10.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.37sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.41sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793237636.53373766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047482 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047482 ms (missed cycles : 2).[0m ×2 + 11.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934221 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934221 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957855 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957855 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.3s	40 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.559ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.737ms + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667050 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667050 ms (missed cycles : 2).[0m ×2 + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.041ms + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.154ms + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258296 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258296 ms (missed cycles : 2).[0m ×2 + 2.48sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.48sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793237800.74245405 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.53sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.54sINFOstate_estimatorReceived a set_pose request (stamp: 1793237800758379758, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 14.21) is out of map bounds (-4.15, 5.70) to (0.83, 10.68). The costmap cannot raytrace for it. + 2.62sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 13.85) is out of map bounds (-4.15, 5.70) to (0.83, 10.68). The costmap cannot raytrace for it. + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045338 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045338 ms (missed cycles : 2).[0m ×2 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 14.21) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.20, 13.85) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.74sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.297ms + 2.93sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 21.625ms + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.93sINFOamclInitializing particles from estimated pose and covariance + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569957, y=-0.0171774, yaw=-0.0183976 + 3.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.05sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.05sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.05sINFOobjective_server_nodecaller: ×4 + 3.05sINFOobjective_server_nodetype: 0 ×4 + 3.05sINFOobjective_server_nodename: "" ×4 + 3.05sINFOobjective_server_nodeinstance_id: "" ×4 + 3.05sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793237801.30850387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 16.414ms + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652170 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652170 ms (missed cycles : 2).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001402 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001402 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372552 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372552 ms (missed cycles : 2).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 8.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 9.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.75sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 10.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	5.8s	39 warnings · 176 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237566.65466380 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.44sINFOstate_estimatorReceived a set_pose request (stamp: 1793237566673860980, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.696ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.133ms + 2.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 2.80sINFOamclInitializing particles from estimated pose and covariance ×2 + 2.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 2.80sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570009, y=-0.0171756, yaw=-0.0183907 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237567.22892880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.506ms + 3.01sWARNobjective_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 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (5.0622e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2).[0m ×2 + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.820ms + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.385ms + 5.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.137ms + 5.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.267ms + 5.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.267ms + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.297ms + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.348ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.550ms + 6.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.992ms + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.804ms + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832518 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832518 ms (missed cycles : 2).[0m ×2 + 6.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.523ms + 7.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.245ms + 7.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 7.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177676 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177676 ms (missed cycles : 2).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.350ms + 8.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793237572.42910576 seconds ×3 + 8.22sINFOstate_estimatorReceived a set_pose request (stamp: 1793237572445156521, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 8.56sINFOamclParticle filter update iteration stats: 1502 particles 811 points - 5.143ms + 8.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570327, y=-0.0171766, yaw=-0.0183971 + 8.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 15.658ms + 8.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793237573.00604653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807295 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807295 ms (missed cycles : 2).[0m ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 9.54sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133394 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133394 ms (missed cycles : 2).[0m ×2 + 10.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179690 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179690 ms (missed cycles : 2).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955600 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955600 ms (missed cycles : 2).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.031ms
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.4s	24 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.155ms + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.861ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847898 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847898 ms (missed cycles : 2).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.285ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.143ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237878.02914977 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.85sINFOstate_estimatorReceived a set_pose request (stamp: 1793237878048887934, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 2114 particles 811 points - 4.970ms + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237878.63483047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.43sINFOmove_groupClearing octomap...[0m ×2 + 3.43sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237879.39499831 seconds ×3 + 4.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237879.96164036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.95sINFOamclInitializing particles from estimated pose and covariance + 4.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.95sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171816, yaw=-0.0184022 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2).[0m ×2 + 5.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.743ms + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237880.70180917 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725487 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725487 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178258 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178258 ms (missed cycles : 2).[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: 1793237517.58060122 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.01sINFOros2_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 + 0.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[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: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 0.67sINFOobjective_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 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.33sINFOobjective_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 + 1.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.15sINFOmove_groupClearing octomap...[0m ×4 + 2.15sINFOmove_groupOctomap cleared.[0m ×4 + 2.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 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: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 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 + 5.54sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 7.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.47sINFOjoint_trajectory_controllerReceived new action goal + 7.47sINFOjoint_trajectory_controllerAccepted new action goal + 7.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.47sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	Close Gripper	close_gripper.xml	0.6s	6 errors · 18 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: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 0.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 0.16sINFOobjective_server_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 + 0.19sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.25sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.26sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.28sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.28sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[0m ×2 + 0.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.80sINFOobjective_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 + 0.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 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 + 0.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 1.58sINFOobjective_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: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.37sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 323 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.71sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.81sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 4.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254365 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254365 ms (missed cycles : 2).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 1108 particles 811 points - 5.488ms
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 87 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237566.65466380 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOstate_estimatorReceived a set_pose request (stamp: 1793237566673860980, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.696ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.133ms + 2.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.80sINFOamclInitializing particles from estimated pose and covariance + 2.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.80sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570009, y=-0.0171756, yaw=-0.0183907 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237567.22892880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.506ms + 3.01sWARNobjective_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 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (5.0622e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOjoint_trajectory_controllerReceived new action goal + 3.83sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2).[0m ×2 + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.820ms + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.385ms + 5.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.137ms + 5.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.267ms + 5.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.267ms + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.297ms + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.348ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.550ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 87 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758955 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085409 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286609 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793237566.65466380 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][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: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.44sINFOstate_estimatorReceived a set_pose request (stamp: 1793237566673860980, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.696ms + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.133ms + 2.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 2.80sINFOamclInitializing particles from estimated pose and covariance + 2.80sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 2.80sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570009, y=-0.0171756, yaw=-0.0183907 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.96sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.96sINFOobjective_server_nodecaller: ×2 + 2.96sINFOobjective_server_nodetype: 0 ×2 + 2.96sINFOobjective_server_nodename: "" ×2 + 2.96sINFOobjective_server_nodeinstance_id: "" ×2 + 2.96sINFOobjective_server_node ×2 + 2.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793237567.22892880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.506ms + 3.01sWARNobjective_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 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790612 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (5.0622e-05 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOjoint_trajectory_controllerReceived new action goal + 3.83sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237345 ms (missed cycles : 2).[0m ×2 + 4.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.820ms + 5.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.385ms + 5.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.137ms + 5.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.267ms + 5.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.267ms + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.297ms + 6.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 6.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.348ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.550ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 95 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.267ms + 0.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.267ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343385 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.297ms + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.382ms + 0.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.348ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.550ms + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.992ms + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.804ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832518 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832518 ms (missed cycles : 2).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.523ms + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.245ms + 2.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.511ms + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.780ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177676 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177676 ms (missed cycles : 2).[0m ×2 + 2.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.350ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793237572.42910576 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.76sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.78sINFOstate_estimatorReceived a set_pose request (stamp: 1793237572445156521, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.437ms + 3.13sINFOamclParticle filter update iteration stats: 1502 particles 811 points - 5.143ms + 3.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.13sINFOamclInitializing particles from estimated pose and covariance + 3.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570327, y=-0.0171766, yaw=-0.0183971 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 15.658ms + 3.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793237573.00604653 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 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807295 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807295 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.10sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133394 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133394 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.86sINFOjoint_trajectory_controllerReceived new action goal + 4.86sINFOjoint_trajectory_controllerAccepted new action goal + 4.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179690 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179690 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955600 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955600 ms (missed cycles : 2).[0m ×2 + 6.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.031ms
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	25 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	25 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	25 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	25 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	25 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 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	25 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	25 warnings · 78 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709246 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223368 ms (missed cycles : 2).[0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.823ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844713 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793237628.82620716 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.73sINFOstate_estimatorReceived a set_pose request (stamp: 1793237628850422184, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.82sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-4.45, 5.00) to (0.53, 9.98). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.92, 13.55) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 7.792ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761351 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 `Move to Arm Upright` starting at time: 1793237629.41421628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725754 ms (missed cycles : 2).[0m ×2 + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg) + 4.84sINFOamclInitializing particles from estimated pose and covariance + 4.84sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.9 deg)[0m ×2 + 4.84sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.053899, y=-0.0162513, yaw=-0.0162499 + 4.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.859ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347107 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774392 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	27 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.014ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237666.44408536 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1793237666465445270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.12) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.15) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_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 + 2.99sWARNlocal_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 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.251ms + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.14sINFOamclInitializing particles from estimated pose and covariance + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570531, y=-0.0171762, yaw=-0.018397 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.726ms + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237667.02702785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	27 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.014ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237666.44408536 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1793237666465445270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.12) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.15) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_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 + 2.99sWARNlocal_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 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.251ms + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.14sINFOamclInitializing particles from estimated pose and covariance + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570531, y=-0.0171762, yaw=-0.018397 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.726ms + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237667.02702785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	27 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.014ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237666.44408536 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1793237666465445270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.12) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.15) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_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 + 2.99sWARNlocal_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 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.251ms + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.14sINFOamclInitializing particles from estimated pose and covariance + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570531, y=-0.0171762, yaw=-0.018397 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.726ms + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237667.02702785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	27 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444682 ms (missed cycles : 3).[0m ×2 + 0.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.642ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684257 ms (missed cycles : 2).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.014ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732160 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793237666.44408536 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.81sINFOstate_estimatorReceived a set_pose request (stamp: 1793237666465445270, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-3.70, 13.12) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-4.60, 13.15) is out of map bounds (-4.65, 4.35) to (0.33, 9.33). The costmap cannot raytrace for it. + 2.99sWARNlocal_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 + 2.99sWARNlocal_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 + 3.14sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.251ms + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.14sINFOamclInitializing particles from estimated pose and covariance + 3.14sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.14sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0570531, y=-0.0171762, yaw=-0.018397 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938668 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.726ms + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793237667.02702785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226390 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766525 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209301 ms (missed cycles : 2).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.376ms
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	3 errors · 18 warnings · 570 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×2 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.10sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.62sINFOobjective_server_nodeobjective_name: "" ×4 + 0.62sINFOobjective_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 + 0.62sINFOobjective_server_node ×32 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.62sINFOobjective_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 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.62sINFOobjective_server_node</Control> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.62sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.62sINFOobjective_server_nodecaller: ×18 + 0.62sINFOobjective_server_nodetype: 0 ×18 + 0.62sINFOobjective_server_nodename: "" ×18 + 0.62sINFOobjective_server_nodeinstance_id: "" ×18 + 0.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.76sINFOobjective_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 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: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_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: 1793237519.74848342 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 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 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.83sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.75sINFOjoint_trajectory_controllerReceived new action goal + 6.75sINFOjoint_trajectory_controllerAccepted new action goal + 6.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.75sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089977 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282426 ms (missed cycles : 2).[0m ×2 + 1.72sINFOjoint_trajectory_controllerGoal reached, success! + 1.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793237807.08870912 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.78sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 1.79sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 1.79sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930323 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.31sINFOobjective_server_nodecaller: ×2 + 2.31sINFOobjective_server_nodetype: 0 ×2 + 2.31sINFOobjective_server_nodename: "" ×2 + 2.31sINFOobjective_server_nodeinstance_id: "" ×2 + 2.31sINFOobjective_server_node ×2 + 2.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793237807.67119288 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194293 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 3.86sINFOjoint_trajectory_controllerReceived new action goal + 3.86sINFOjoint_trajectory_controllerAccepted new action goal + 3.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347042 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912615 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 2.912ms
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 127 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.155ms + 0.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.861ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847898 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847898 ms (missed cycles : 2).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 3.285ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654299 ms (missed cycles : 3).[0m ×2 + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.143ms + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793237878.02914977 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.85sINFOstate_estimatorReceived a set_pose request (stamp: 1793237878048887934, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386051 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 2114 particles 811 points - 4.970ms + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793237878.63483047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.43sINFOmove_groupClearing octomap...[0m ×2 + 3.43sINFOmove_groupOctomap cleared.[0m ×2 + 3.46sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.46sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122342 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793237879.39499831 seconds ×3 + 4.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793237879.96164036 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.95sINFOamclInitializing particles from estimated pose and covariance + 4.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.95sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568319, y=-0.0171816, yaw=-0.0184022 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029865 ms (missed cycles : 2).[0m ×2 + 5.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.743ms + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793237880.70180917 seconds ×3 + 5.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592040 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 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	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	3 errors · 21 warnings · 450 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.14sINFOros2_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: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][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: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.70sINFOmove_groupClearing octomap...[0m ×4 + 0.70sINFOmove_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: 1793237519.74848342 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 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 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_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 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.01sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	3 errors · 21 warnings · 570 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×2 + 0.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.10sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.62sINFOobjective_server_nodeobjective_name: "" ×4 + 0.62sINFOobjective_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 + 0.62sINFOobjective_server_node ×32 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.62sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.62sINFOobjective_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 + 0.62sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.62sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.62sINFOobjective_server_node</Control> ×8 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.62sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.62sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.62sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.62sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.62sINFOobjective_server_nodecaller: ×18 + 0.62sINFOobjective_server_nodetype: 0 ×18 + 0.62sINFOobjective_server_nodename: "" ×18 + 0.62sINFOobjective_server_nodeinstance_id: "" ×18 + 0.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 0.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.76sINFOobjective_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 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: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_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: 1793237519.74848342 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 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 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.83sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.75sINFOjoint_trajectory_controllerReceived new action goal + 6.75sINFOjoint_trajectory_controllerAccepted new action goal + 6.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 842 info
+ 0.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×11 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×11 + 0.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×22 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×11 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×22 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 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 + 0.55sINFOobjective_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=\"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 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.55sINFOobjective_server_nodecaller: ×26 + 0.55sINFOobjective_server_nodetype: 0 ×26 + 0.55sINFOobjective_server_nodename: "" ×26 + 0.55sINFOobjective_server_nodeinstance_id: "" ×26 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 0.70sINFOobjective_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 + 0.70sINFOobjective_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 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[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: "" + 1.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 1.46sINFOobjective_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 + 1.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 2.12sINFOobjective_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: "" + 2.13sINFOobjective_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 + 2.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 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 + 4.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 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: 1793237523.10625315 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 + 6.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.97sINFOros2_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: [ vacuum_gripper platform_velocity_controller ] ×11 + 0.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×11 + 0.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×22 + 0.02sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×11 + 0.02sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×22 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748674 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 + 0.55sINFOobjective_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=\"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 + 0.55sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.55sINFOobjective_server_nodecaller: ×24 + 0.55sINFOobjective_server_nodetype: 0 ×24 + 0.55sINFOobjective_server_nodename: "" ×24 + 0.55sINFOobjective_server_nodeinstance_id: "" ×24 + 0.58sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.36435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.43468022 seconds ×3 + 0.70sINFOobjective_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 + 0.70sINFOobjective_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 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237517.52044988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[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: "" + 1.34sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 1.46sINFOobjective_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 + 1.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 2.12sINFOobjective_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: "" + 2.13sINFOobjective_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 + 2.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 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 + 4.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 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: 1793237523.10625315 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 + 6.33sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 18 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.01sINFOros2_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 + 0.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[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: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 0.67sINFOobjective_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 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.33sINFOobjective_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 + 1.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.15sINFOmove_groupClearing octomap...[0m ×4 + 2.15sINFOmove_groupOctomap cleared.[0m ×4 + 2.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 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: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 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 + 5.54sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 18 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.01sINFOros2_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 + 0.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[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: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 0.67sINFOobjective_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 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.33sINFOobjective_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 + 1.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.15sINFOmove_groupClearing octomap...[0m ×4 + 2.15sINFOmove_groupOctomap cleared.[0m ×4 + 2.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 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: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 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 + 5.54sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 18 warnings · 702 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237517.58060122 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.01sINFOros2_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 + 0.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.03sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.03sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272129 ms (missed cycles : 2).[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: 1793237518.15645576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237518.24662805 seconds ×3 + 0.67sINFOobjective_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 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.69sINFOobjective_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 + 0.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.29587722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237518.36607242 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.33sINFOobjective_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 + 1.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237518.94166660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793237519.03326106 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.15sINFOmove_groupClearing octomap...[0m ×4 + 2.15sINFOmove_groupOctomap cleared.[0m ×4 + 2.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793237519.74848342 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 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: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 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 + 5.54sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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: 1793237519.03326106 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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779379 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793237519.08150101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793237519.15166903 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.14sINFOros2_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: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][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: 1793237519.72831988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.70sINFOmove_groupClearing octomap...[0m ×4 + 0.70sINFOmove_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: 1793237519.74848342 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793237520.31670713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793237520.37687707 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 + 2.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_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 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_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 + 4.09sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.01sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 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	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254365 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254365 ms (missed cycles : 2).[0m ×2 + 7.52sINFOamclParticle filter update iteration stats: 1108 particles 811 points - 5.488ms

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 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	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 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: 1793237519.72831988 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: 1793237519.74848342 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][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: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.07sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358556 ms (missed cycles : 3).[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: 1793237520.31670713 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: 1793237520.37687707 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: 1793237521.05741477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793237521.11759472 seconds ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344910 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: 1793237521.79633951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793237521.80656052 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793237522.37119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793237522.52170873 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944581 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793237523.10625315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.42sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793237523.15644979 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800079 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.00sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793237523.73618388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783582 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026463 ms (missed cycles : 2).[0m ×2