MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

17.0s

Avg test time

100%

Objective pass rate

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5 pass

✓ passed	—	test_base_link_has_single_tf_parent	22.5s	6 errors · 318 warnings · 1796 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/2026-11-04-00-48-50-605798-22d7c240a983-8026 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.22sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.22sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.23sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.25sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.32sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.32sINFOmap_serverCreating + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.34sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.38sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.39sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.42sINFOlifecycle_manager_localizationCreating + 4.43sINFOcontroller_serverCreating controller server + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.44sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.44sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.44sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.44sINFOmap_serverConfiguring + 4.46sINFOlocal_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. + 4.47sINFOlocal_costmap.local_costmapCreating Costmap + 4.47sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.51sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.52sINFOstate_estimatorReceived a set_pose request (stamp: 1793753336822816552, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.52sINFOsmoother_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. + 4.52sINFOcontroller_managerupdate rate is 600 Hz + 4.52sINFOcontroller_managerOverruns handling is : enabled + 4.52sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.52sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.54sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.55sINFOros2_control_node-13process started with pid [8191] ×2 + 4.55sINFOmove_group-25process started with pid [8250] ×2 + 4.55sINFOparameter_manager_node-26process started with pid [8251] ×2 + 4.55sINFOwaypoint_manager_node-27process started with pid [8252] ×2 + 4.55sINFOmove_joint_resampler_node-28process started with pid [8255] ×2 + 4.55sINFOmove_end_effector_resampler_node-29process started with pid [8256] ×2 + 4.55sINFOobjective_server_node_main-30process started with pid [8258] ×2 + 4.55sINFOcomponent_container_mt-31process started with pid [8261] ×2 + 4.55sINFOcomponent_container_mt-32process started with pid [8262] ×2 + 4.55sINFOexecute_objective_bridge-33process started with pid [8263] ×2 + 4.55sINFOui_teleop_bridge-34process started with pid [8264] ×2 + 4.55sINFOweb_bridge-35process started with pid [8266] ×2 + 4.55sINFOtf_visualization_relay-36process started with pid [8272] ×2 + 4.55sINFOjoint_state_visualization_relay-37process started with pid [8273] ×2 + 4.55sINFOtf2_web_republisher_node-38process started with pid [8277] ×2 + 4.55sINFOvideo_server-39process started with pid [8279] ×2 + 4.55sINFOweb_bridge_auth_proxy-40process started with pid [8298] ×2 + 4.55sINFOamclConfiguring + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804091 ms (missed cycles : 4). + 4.55sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.55sINFOmap_serverActivating + 4.56sINFOsmoother_serverCreating smoother server + 4.56sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.56sINFOweb_video_auth_proxy-41process started with pid [8301] ×2 + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.57sINFOcomponent_container_isolated-1process started with pid [8076] ×2 + 4.57sINFOcomponent_container_isolated-2process started with pid [8077] ×2 + 4.57sINFOstatic_transform_publisher-3process started with pid [8078] ×2 + 4.57sINFOodom_world_drift-4process started with pid [8079] ×2 + 4.57sINFOlidar_flattener.py-5process started with pid [8080] ×2 + 4.57sINFOstatic_transform_publisher-6process started with pid [8081] ×2 + 4.57sINFOstatic_transform_publisher-7process started with pid [8082] ×2 + 4.57sINFOscan_to_scan_filter_chain-8process started with pid [8083] ×2 + 4.57sINFOscan_to_scan_filter_chain-9process started with pid [8084] ×2 + 4.57sINFOrelay-10process started with pid [8188] ×2 + 4.57sINFOrelay-11process started with pid [8189] ×2 + 4.57sINFOfixed_lag_smoother_node-12process started with pid [8190] ×2 + 4.57sINFOros2-14process started with pid [8192] ×2 + 4.57sINFOros2-15process started with pid [8193] ×2 + 4.57sINFOros2-16process started with pid [8194] ×2 + 4.57sINFOros2-17process started with pid [8197] ×2 + 4.57sINFOros2-18process started with pid [8209] ×2 + 4.57sINFOros2-19process started with pid [8213] ×2 + 4.57sINFOros2-20process started with pid [8217] ×2 + 4.57sINFOros2-21process started with pid [8223] ×2 + 4.57sINFOros2-22process started with pid [8226] ×2 + 4.57sINFOros2-23process started with pid [8229] ×2 + 4.57sINFOros2-24process started with pid [8230] ×2 + 4.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.61sINFOplanner_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. + 4.64sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.64sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.64sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.64sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.64sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.64sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.64sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.64sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.64sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.64sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.64sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.64sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.64sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.64sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.64sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.64sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.65sINFOplanner_serverCreating + 4.65sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.65sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.66sWARNros2_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 + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.804091 ms (missed cycles : 4).[0m ×2 + 4.66sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.67sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.67sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.67sINFOamclActivating + 4.67sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.67sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.68sINFOamclSubscribed to map_topic: /map + 4.68sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.68sINFOamclCreated reinitialize_global_localization service + 4.68sINFOamclCreated request_nomotion_update service + 4.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.69sINFOamclA new map was received + 4.70sINFOamclInitializing particle filter instance + 4.71sINFOglobal_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. + 4.72sINFOglobal_costmap.global_costmapCreating Costmap + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.79sINFOrobot_state_publisherRobot initialized + 4.80sINFObehavior_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. + 4.80sINFOcontroller_managerReceived robot description from topic. + 4.80sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.80sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.82sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.84sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.85sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.86sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.87sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.89sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.91sINFOvideo_server2026/11/04 00:48:57 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.91sINFOvideo_server2026/11/04 00:48:57 INF configuration loaded from /tmp/moveit-webrtc-vseskx3g/mediamtx.yml ×2 + 4.91sINFOvideo_server2026/11/04 00:48:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.91sINFOvideo_server2026/11/04 00:48:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.92sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.92sINFObt_navigatorCreating + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.97sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.98sINFOwaypoint_followerCreating + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.04sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.07sINFOlifecycle_manager_navigationCreating + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.09sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.11sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.11sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.11sINFOcontroller_serverConfiguring controller interface + 5.11sINFOcontroller_servergetting progress checker plugins.. + 5.11sINFOcontroller_servergetting goal checker plugins.. + 5.11sINFOcontroller_serverController frequency set to 20.0000Hz + 5.11sINFOlocal_costmap.local_costmapConfiguring + 5.11sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.11sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.12sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.12sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.12sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.14sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.18sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.18sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.18sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.24sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.25sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.25sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.25sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.25sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.26sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.26sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.27sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.29sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.29sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.31sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.31sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.32sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.32sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.32sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.32sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.34sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.34sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.35sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.35sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.35sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.36sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.36sINFOcontroller_serverOptimizer reset ×2 + 5.38sINFOcontroller_serverController Server has FollowPath controllers available. + 5.41sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.41sINFOsmoother_serverConfiguring smoother server + 5.43sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.44sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.46sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.47sINFOplanner_serverConfiguring + 5.47sINFOglobal_costmap.global_costmapConfiguring + 5.50sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.53sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.53sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.53sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.54sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.61sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.61sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.62sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.69sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.70sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.70sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791953 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791953 ms (missed cycles : 2).[0m ×2 + 5.73sINFOamclParticle filter initialization completed + 5.73sINFOamclInitializing particles from estimated pose and covariance + 5.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.74sINFOplanner_serverPlanner Server has GridBased planners available. + 5.74sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.74sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.74sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.74sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.78sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.78sINFObehavior_serverConfiguring + 5.82sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.84sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.84sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.85sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.85sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.86sINFObehavior_serverConfiguring spin + 5.88sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.88sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.89sINFObehavior_serverConfiguring backup + 5.90sINFObehavior_serverConfiguring drive_on_heading + 5.90sINFObehavior_serverConfiguring assisted_teleop + 5.94sINFObehavior_serverConfiguring wait + 5.96sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.96sINFObt_navigatorConfiguring + 5.97sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.99sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.15sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.470158 seconds + 6.15sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 6.15sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 6.15sINFOmove_groupLoaded robot model in 0.470158 seconds[0m ×2 + 6.15sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 6.15sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.23sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.29sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.29sINFOwaypoint_followerConfiguring + 6.32sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.32sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.32sINFOvelocity_smootherConfiguring velocity smoother + 6.33sINFOweb_bridge_auth_proxy2026-11-04 00:48:58,635 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 6.33sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.33sINFOcontroller_serverActivating + 6.33sINFOlocal_costmap.local_costmapActivating + 6.33sINFOlocal_costmap.local_costmapChecking transform + 6.33sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Invalid frame ID "odom" passed to canTransform argument target_frame - frame does not exist ×7 + 6.33sINFOweb_bridge_auth_proxy2026-11-04 00:48:58,640 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 6.34sINFOweb_video_auth_proxy2026-11-04 00:48:58,643 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 6.38sINFOwaypoint_manager_nodeLoaded robot model in 0.473096 seconds[0m ×2 + 6.38sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.38sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.45sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.45sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.45sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.45sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.48sINFOros2_control_nodeScanned 4 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libsdf_plugin.so, libsensor.so.[0m ×2 + 6.48sINFOros2_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 + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155317 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155317 ms (missed cycles : 2).[0m ×2 + 6.81sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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. + 6.87sWARNwaypoint_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 + 6.87sWARNwaypoint_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 + 6.92sINFOmove_group[2026-11-04 00:48:59.225] [moveit_pro_license] [info] ×2 + 6.92sINFOmove_group************************************************* ×4 + 6.92sINFOmove_group* MoveIt Pro License ×2 + 6.92sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.10sINFOwaypoint_manager_node[2026-11-04 00:48:59.410] [moveit_pro_license] [info] ×2 + 7.10sINFOwaypoint_manager_node************************************************* ×4 + 7.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.30sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.30sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.30sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.30sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.30sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.31sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.31sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.31sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.31sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.31sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.31sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.31sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.31sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.35sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.35sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.36sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter. Its parent TF edge is published by robot_state_publisher or another node, not this interface.[0m ×2 + 7.36sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.36sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.36sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.36sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.36sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.36sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.36sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.36sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.36sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.36sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.36sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.36sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.36sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.36sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.36sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.36sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.36sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.36sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.36sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.36sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.36sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.36sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.36sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.36sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.36sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.36sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.39sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.39sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.39sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.40sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 7.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 7.55sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.56sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.56sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.56sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.58sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.58sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 7.58sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 7.58sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 7.58sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 7.60sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.60sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.76sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.76sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737001 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737001 ms (missed cycles : 2).[0m ×2 + 7.81sINFOros2_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 + 7.81sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.81sWARNros2_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 + 7.86sINFOobjective_server_node[2026-11-04 00:49:00.169] [moveit_pro_license] [info] ×2 + 7.86sINFOobjective_server_node************************************************* ×4 + 7.86sINFOobjective_server_node* MoveIt Pro License ×2 + 7.86sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.95sINFOobjective_server_nodeLoaded robot model in 0.0333288 seconds[0m ×2 + 7.95sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.95sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.04sINFOros2_control_node[2026-11-04 00:49:00.347] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.04sINFOros2_control_node[2026-11-04 00:49:00.350] [info] Controller state will be published at 10 Hz. ×2 + 8.04sINFOros2_control_node[2026-11-04 00:49:00.352] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.35sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.36sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.37sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.38sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 8.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 8.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.42sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.43sINFOros2-22process has finished cleanly [pid 8226] ×2 + 8.46sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.49sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.49sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.49sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.49sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.49sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.49sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.49sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.68sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.68sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.71sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.71sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.71sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.72sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.72sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.72sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.72sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.72sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.72sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.73sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.73sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.74sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.74sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.74sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.74sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.74sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.74sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.74sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.88sINFOros2_control_node[2026-11-04 00:49:01.191] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.89sINFOros2_control_node[2026-11-04 00:49:01.192] [info] Controller state will be published at 10 Hz. ×2 + 8.89sINFOros2_control_node[2026-11-04 00:49:01.194] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.01sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 9.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 9.03sINFOstreaming_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) + 9.03sINFOcomponent_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 + 9.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 9.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 9.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625976 ms (missed cycles : 3). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625976 ms (missed cycles : 3).[0m ×2 + 9.16sINFOcomponent_container_mtLoaded robot model in 0.448708 seconds[0m ×2 + 9.16sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 9.16sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.22sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.22sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.22sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.22sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.23sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 9.23sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 9.23sINFOmove_groupMoveGroup debug mode is ON + 9.23sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.24sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.24sINFOros2-21process has finished cleanly [pid 8223] ×2 + 9.27sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.28sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 9.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 9.30sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.30sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.30sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 9.31sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.31sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.31sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.32sINFOplatform_velocity_controllerconfigure successful + 9.32sINFOros2_control_nodeconfigure successful[0m ×6 + 9.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.32sINFOcontroller_managerSuccessfully switched controllers! ×19 + 9.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 9.32sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.32sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.46sWARNros2_control_nodeCamera render tick took 0.78 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.46sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.46sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.46sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.46sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.51sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 9.51sINFOmove_group ×8 + 9.51sINFOmove_group****************************************************** ×4 + 9.51sINFOmove_group* MoveGroup using: ×2 + 9.51sINFOmove_group* - apply_planning_scene_service ×2 + 9.51sINFOmove_group* - clear_octomap_service ×2 + 9.51sINFOmove_group* - get_group_urdf ×2 + 9.51sINFOmove_group* - load_geometry_from_file ×2 + 9.51sINFOmove_group* - get_planning_scene_service ×2 + 9.51sINFOmove_group* - kinematics_service ×2 + 9.51sINFOmove_group* - save_geometry_to_file ×2 + 9.51sINFOmove_group* - GetPlanningGroups ×2 + 9.51sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.51sINFOmove_group[0m ×2 + 9.52sINFOmove_group[92mYou can start planning now![0m ×2 + 9.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.60sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.60sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.61sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.62sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.62sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.63sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.63sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.64sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.66sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.66sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.66sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.66sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.68sINFOros2-17process has finished cleanly [pid 8197] ×2 + 9.75sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 9.75sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 9.82sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.82sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.83sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.83sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.83sINFOlocal_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. ×7 + 9.91sINFOcomponent_container_mt[2026-11-04 00:49:02.222] [moveit_pro_license] [info] ×2 + 9.91sINFOcomponent_container_mt************************************************* ×4 + 9.91sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.91sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763865 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763865 ms (missed cycles : 2).[0m ×2 + 10.18sINFOros2_control_node[2026-11-04 00:49:02.483] [info] Controller state will be published at 20 Hz. ×2 + 10.18sINFOros2_control_node[2026-11-04 00:49:02.484] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.27sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 10.27sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 10.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 10.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 10.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 10.46sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793753340.985 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.51sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.51sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.51sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.51sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.51sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 10.51sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 10.53sINFOros2-24process has finished cleanly [pid 8230] ×2 + 10.56sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.57sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.57sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.57sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.57sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.57sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.58sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.58sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.88sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 10.88sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 10.90sINFOros2-15process has finished cleanly [pid 8193] ×2 + 10.93sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.93sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.93sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.93sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627451 ms (missed cycles : 4). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627451 ms (missed cycles : 4).[0m ×2 + 11.30sINFOros2_control_node[2026-11-04 00:49:03.605] [info] Controller state will be published at 20 Hz. ×2 + 11.30sINFOros2_control_node[2026-11-04 00:49:03.606] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.61sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.61sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.61sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.61sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.61sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 11.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 11.65sINFOros2-23process has finished cleanly [pid 8229] ×2 + 11.67sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.67sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.67sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.67sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.68sINFOforce_torque_sensor_broadcasterconfigure successful + 11.68sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.68sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.69sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.69sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 12.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 12.04sINFOros2-14process has finished cleanly [pid 8192] ×2 + 12.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.12sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.12sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.13sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.13sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.13sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933025 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933025 ms (missed cycles : 2).[0m ×2 + 12.42sINFOros2-20process has finished cleanly [pid 8217] ×2 + 12.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.43sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.43sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 12.43sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.43sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 12.50sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.50sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.50sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.50sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.51sINFOplatform_velocity_controller_nav2configure successful + 12.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 12.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 12.85sINFOros2-19process has finished cleanly [pid 8213] ×2 + 12.90sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.90sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.90sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.90sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.90sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.91sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.91sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.92sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 13.24sINFOros2-16process has finished cleanly [pid 8194] ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009574 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009574 ms (missed cycles : 2).[0m ×2 + 13.26sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 13.26sINFOcontroller_managerLoading controller 'vacuum_gripper' + 13.26sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 13.26sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 13.26sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w + 13.26sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1ou28a_j --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_mojedp_f --params-file /tmp/launch_params_jl6wfy6w [0m ×2 + 13.28sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1793753344.221 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 13.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 13.32sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 13.32sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 13.32sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 13.32sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 13.32sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 13.32sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 13.33sINFOlocal_costmap.local_costmapstart + 13.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 13.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 13.35sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 13.35sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1756 particles 811 points - 27.162ms + 13.43sWARNcontroller_serverParameter controller_server.verbose not found + 13.44sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.54sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.54sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.54sINFOsmoother_serverActivating + 13.54sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.63sINFOros2-18process has finished cleanly [pid 8209] ×2 + 13.65sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.65sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.65sINFOplanner_serverActivating + 13.65sINFOglobal_costmap.global_costmapActivating + 13.65sINFOglobal_costmap.global_costmapChecking transform + 13.65sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1793753345.939402, but only time 1793753346.309005 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.15sINFOglobal_costmap.global_costmapstart + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594581 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594581 ms (missed cycles : 2).[0m ×2 + 15.16sWARNobjective_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 + 15.20sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.20sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.31sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.31sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.31sINFObehavior_serverActivating + 15.31sINFObehavior_serverActivating spin + 15.31sINFObehavior_serverActivating backup + 15.31sINFObehavior_serverActivating drive_on_heading + 15.31sINFObehavior_serverActivating assisted_teleop + 15.31sINFObehavior_serverActivating wait + 15.31sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447913 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447913 ms (missed cycles : 3).[0m ×2 + 15.41sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.41sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.41sINFObt_navigatorActivating + 15.48sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.58sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.58sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.58sINFOwaypoint_followerActivating + 15.58sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.69sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.69sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.69sINFOvelocity_smootherActivating + 15.69sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.80sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.80sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.80sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 16.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 16.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 16.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 16.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 16.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 16.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 16.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 16.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 16.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 16.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 16.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 16.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904484 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904484 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100184 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100184 ms (missed cycles : 3).[0m ×2 + 17.54sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401853 ms (missed cycles : 2). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401853 ms (missed cycles : 2).[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3).[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3).[0m ×2 + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 21.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.88sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 21.88sINFOobjective_server_nodeobjective_name: "" ×12 + 21.88sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 21.88sINFOobjective_server_node ×56 + 21.88sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 21.88sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 21.88sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 21.88sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 21.88sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 21.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 21.88sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 21.88sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 21.88sINFOobjective_server_node</Control> ×24 + 21.88sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 21.88sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 21.88sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 21.88sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 21.88sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 21.88sINFOobjective_server_nodeparameter_overrides: [] ×14 + 21.88sINFOobjective_server_nodecaller: ×14 + 21.88sINFOobjective_server_nodetype: 0 ×14 + 21.88sINFOobjective_server_nodename: "" ×14 + 21.88sINFOobjective_server_nodeinstance_id: "" ×14 + 21.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.00sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 22.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" ×3 + 22.06sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 22.10sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.18sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 22.72sINFOobjective_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: "" + 22.73sINFOobjective_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 + 22.76sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 22.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 22.84sINFOobjective_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 + 22.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 23.52sINFOobjective_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=\"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: "" + 23.52sINFOobjective_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 + 23.56sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 23.74sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 23.83sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 24.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 24.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 24.38sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 24.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 24.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 24.43sINFOmove_groupClearing octomap...[0m ×2 + 24.43sINFOmove_groupOctomap cleared.[0m ×2 + 24.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 24.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 24.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3
✓ passed	—	release_fails	0.9s	6 errors · 21 warnings · 741 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3).[0m ×2 + 0.22sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.22sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.23sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.23sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.23sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 1.29sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.29sINFOobjective_server_nodeobjective_name: "" ×12 + 1.29sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 1.29sINFOobjective_server_node ×64 + 1.29sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.29sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.29sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.29sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.29sINFOobjective_server_node</Control> ×24 + 1.29sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.29sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.29sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.29sINFOobjective_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 + 1.29sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.29sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.29sINFOobjective_server_nodecaller: ×22 + 1.29sINFOobjective_server_nodetype: 0 ×22 + 1.29sINFOobjective_server_nodename: "" ×22 + 1.29sINFOobjective_server_nodeinstance_id: "" ×22 + 1.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 1.47sINFOobjective_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 + 1.47sINFOobjective_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 + 1.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.14sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 2.25sINFOobjective_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 + 2.31sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 2.93sINFOobjective_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: "" + 2.93sINFOobjective_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 + 2.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.84sINFOmove_groupClearing octomap...[0m ×2 + 3.84sINFOmove_groupOctomap cleared.[0m ×2 + 3.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 5.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3
✓ passed	—	placed	0.8s	6 errors · 24 warnings · 641 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401853 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401853 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 2.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.33sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 2.33sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 2.33sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 2.33sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_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: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 3.39sINFOobjective_server_nodeobjective_name: "" ×12 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node ×60 + 3.39sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.39sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.39sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.39sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.39sINFOobjective_server_node</Control> ×24 + 3.39sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.39sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.39sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×18 + 3.39sINFOobjective_server_nodecaller: ×18 + 3.39sINFOobjective_server_nodetype: 0 ×18 + 3.39sINFOobjective_server_nodename: "" ×18 + 3.39sINFOobjective_server_nodeinstance_id: "" ×18 + 3.43sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 3.57sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_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=\"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 + 4.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 4.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 4.36sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 5.03sINFOobjective_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: "" + 5.03sINFOobjective_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 + 5.08sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 5.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.94sINFOmove_groupClearing octomap...[0m ×2 + 5.94sINFOmove_groupOctomap cleared.[0m ×2 + 5.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 7.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 7.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2
✓ passed	—	hover_fails	0.8s	6 errors · 24 warnings · 691 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3).[0m ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 1.25sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 1.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 1.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 2.32sINFOobjective_server_nodeobjective_name: "" ×12 + 2.32sINFOobjective_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 + 2.32sINFOobjective_server_node ×62 + 2.32sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.32sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.32sINFOobjective_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 + 2.32sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.32sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 2.32sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.32sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.32sINFOobjective_server_node</Control> ×24 + 2.32sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.32sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.32sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.32sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.32sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×20 + 2.32sINFOobjective_server_nodecaller: ×20 + 2.32sINFOobjective_server_nodetype: 0 ×20 + 2.32sINFOobjective_server_nodename: "" ×20 + 2.32sINFOobjective_server_nodeinstance_id: "" ×20 + 2.36sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 2.50sINFOobjective_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 + 2.50sINFOobjective_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 + 2.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 3.16sINFOobjective_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=\"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: "" + 3.17sINFOobjective_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 + 3.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 3.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 3.28sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 3.96sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 4.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.87sINFOmove_groupClearing octomap...[0m ×2 + 4.87sINFOmove_groupOctomap cleared.[0m ×2 + 4.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 6.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2
✓ passed	—	test_fuse_inputs_reach_a_reliable_subscriber	0.5s	6 errors · 21 warnings · 588 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401853 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401853 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579477 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651939 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.32sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.33sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.33sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 2.33sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 2.33sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_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: "" + 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 3.39sINFOobjective_server_nodeobjective_name: "" ×12 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node ×58 + 3.39sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.39sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 3.39sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 3.39sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 3.39sINFOobjective_server_node</Control> ×24 + 3.39sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 3.39sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 3.39sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 3.39sINFOobjective_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 + 3.39sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×16 + 3.39sINFOobjective_server_nodecaller: ×16 + 3.39sINFOobjective_server_nodetype: 0 ×16 + 3.39sINFOobjective_server_nodename: "" ×16 + 3.39sINFOobjective_server_nodeinstance_id: "" ×16 + 3.43sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 3.57sINFOobjective_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 + 3.61sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.24sINFOobjective_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=\"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 + 4.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 4.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 4.36sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 4.42sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 5.03sINFOobjective_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: "" + 5.03sINFOobjective_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 + 5.08sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 5.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 5.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.90sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 5.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.94sINFOmove_groupClearing octomap...[0m ×2 + 5.94sINFOmove_groupOctomap cleared.[0m ×2 + 5.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.54sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sINFOvacuum_gripperReceived & accepted new action goal + 6.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 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	73.5s	3 errors · 240 warnings · 287 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.578ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043138 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043138 ms (missed cycles : 2).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.535ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332780 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332780 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.478ms + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984962 ms (missed cycles : 5). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984962 ms (missed cycles : 5).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.331ms + 2.67sINFOobjective_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 + 2.68sINFOjoint_trajectory_controllerGot request to cancel goal + 2.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.68sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.72sERRORobjective_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: 1793753572.34579897 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.74sINFOstate_estimatorReceived a set_pose request (stamp: 1793753572363228660, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.329ms + 3.26sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.26sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.27sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.27sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569217, y=-0.0171793, yaw=-0.0183994 + 3.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793753572.94330287 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 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.086ms + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616238 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616238 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286220 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286220 ms (missed cycles : 3).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395835 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395835 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.94sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.94sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367441 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367441 ms (missed cycles : 4).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285459 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285459 ms (missed cycles : 3).[0m ×2 + 7.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.453ms + 8.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.461ms + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970375 ms (missed cycles : 3). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970375 ms (missed cycles : 3).[0m ×2 + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.663ms + 9.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.094ms + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748422 ms (missed cycles : 3). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748422 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.840ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236246 ms (missed cycles : 3). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236246 ms (missed cycles : 3).[0m ×2 + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.211ms + 11.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.259ms + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773532 ms (missed cycles : 3). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773532 ms (missed cycles : 3).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.042ms + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.505ms + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964369 ms (missed cycles : 2). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964369 ms (missed cycles : 2).[0m ×2 + 13.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.442ms + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594947 ms (missed cycles : 2).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.390ms + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.571ms + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289613 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289613 ms (missed cycles : 2).[0m ×2 + 15.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.296ms + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.519ms + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572851 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572851 ms (missed cycles : 3).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.820ms + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220689 ms (missed cycles : 4). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220689 ms (missed cycles : 4).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.219ms + 18.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.179ms + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018812 ms (missed cycles : 2). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018812 ms (missed cycles : 2).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.518ms + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372973 ms (missed cycles : 4). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372973 ms (missed cycles : 4).[0m ×2 + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.152ms + 20.24sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.675ms + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294635 ms (missed cycles : 3). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294635 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.321ms + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028939 ms (missed cycles : 3). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028939 ms (missed cycles : 3).[0m ×2 + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.542ms + 22.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.672ms + 22.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437055 ms (missed cycles : 4). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437055 ms (missed cycles : 4).[0m ×2 + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.797ms + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364453 ms (missed cycles : 4). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364453 ms (missed cycles : 4).[0m ×2 + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.027ms + 24.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.706ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122667 ms (missed cycles : 4). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122667 ms (missed cycles : 4).[0m ×2 + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.614ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351371 ms (missed cycles : 3). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351371 ms (missed cycles : 3).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.859ms + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.846ms + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020408 ms (missed cycles : 4). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.020408 ms (missed cycles : 4).[0m ×2 + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.145ms + 28.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.454ms + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263375 ms (missed cycles : 2). + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263375 ms (missed cycles : 2).[0m ×2 + 28.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.186ms + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842144 ms (missed cycles : 3). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842144 ms (missed cycles : 3).[0m ×2 + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.088ms + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.979ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211957 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211957 ms (missed cycles : 2).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850057 ms (missed cycles : 2). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850057 ms (missed cycles : 2).[0m ×2 + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.911ms + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.805ms + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740941 ms (missed cycles : 2). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740941 ms (missed cycles : 2).[0m ×2 + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.166ms + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491805 ms (missed cycles : 4). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491805 ms (missed cycles : 4).[0m ×2 + 33.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.691ms + 34.31sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.31sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013987 ms (missed cycles : 5). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013987 ms (missed cycles : 5).[0m ×2 + 35.25sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639190 ms (missed cycles : 3). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639190 ms (missed cycles : 3).[0m ×2 + 36.04sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277274 ms (missed cycles : 4). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277274 ms (missed cycles : 4).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745564 ms (missed cycles : 3). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745564 ms (missed cycles : 3).[0m ×2 + 38.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.836ms + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071439 ms (missed cycles : 2). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071439 ms (missed cycles : 2).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.743ms + 39.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.806ms + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262427 ms (missed cycles : 5). + 40.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262427 ms (missed cycles : 5).[0m ×2 + 40.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.141ms + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090852 ms (missed cycles : 3). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090852 ms (missed cycles : 3).[0m ×2 + 41.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.980ms + 41.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.801ms + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785157 ms (missed cycles : 3). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785157 ms (missed cycles : 3).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830273 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830273 ms (missed cycles : 3).[0m ×2 + 44.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638828 ms (missed cycles : 3). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638828 ms (missed cycles : 3).[0m ×2 + 44.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.495ms + 45.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.681ms + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565171 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565171 ms (missed cycles : 3).[0m ×2 + 45.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.744ms + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011228 ms (missed cycles : 3). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011228 ms (missed cycles : 3).[0m ×2 + 46.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.558ms + 47.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.490ms + 47.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906572 ms (missed cycles : 3). + 47.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.906572 ms (missed cycles : 3).[0m ×2 + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.860ms + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620186 ms (missed cycles : 4). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620186 ms (missed cycles : 4).[0m ×2 + 48.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.105ms + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.078ms + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158590 ms (missed cycles : 3). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158590 ms (missed cycles : 3).[0m ×2 + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.202ms + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819484 ms (missed cycles : 4). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819484 ms (missed cycles : 4).[0m ×2 + 51.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.697ms + 51.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725798 ms (missed cycles : 4). + 51.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725798 ms (missed cycles : 4).[0m ×2 + 52.20sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 52.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.842ms + 52.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447996 ms (missed cycles : 3). + 52.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447996 ms (missed cycles : 3).[0m ×2 + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460734 ms (missed cycles : 4). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460734 ms (missed cycles : 4).[0m ×2 + 54.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146985 ms (missed cycles : 4). + 54.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146985 ms (missed cycles : 4).[0m ×2 + 55.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630859 ms (missed cycles : 3). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630859 ms (missed cycles : 3).[0m ×2 + 56.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.346ms + 56.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826886 ms (missed cycles : 2). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826886 ms (missed cycles : 2).[0m ×2 + 56.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.589ms + 57.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546347 ms (missed cycles : 3). + 57.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546347 ms (missed cycles : 3).[0m ×2 + 57.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.560ms + 58.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.153ms + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826355 ms (missed cycles : 3). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826355 ms (missed cycles : 3).[0m ×2 + 59.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.537ms + 59.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327093 ms (missed cycles : 4). + 59.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327093 ms (missed cycles : 4).[0m ×2 + 59.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.320ms + 60.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.085ms + 60.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.126ms + 60.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630191 ms (missed cycles : 3). + 60.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630191 ms (missed cycles : 3).[0m ×2 + 61.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.050ms + 61.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.938ms + 61.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922713 ms (missed cycles : 2). + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922713 ms (missed cycles : 2).[0m ×2 + 62.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.350ms + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.925075 ms (missed cycles : 6). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.925075 ms (missed cycles : 6).[0m ×2 + 63.95sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 64.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.860ms + 64.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2). + 64.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738300 ms (missed cycles : 2).[0m ×2 + 65.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599257 ms (missed cycles : 3). + 65.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599257 ms (missed cycles : 3).[0m ×2 + 66.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942276 ms (missed cycles : 2). + 66.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942276 ms (missed cycles : 2).[0m ×2 + 67.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206114 ms (missed cycles : 2). + 67.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206114 ms (missed cycles : 2).[0m ×2 + 68.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.648ms + 68.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514705 ms (missed cycles : 3). + 68.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514705 ms (missed cycles : 3).[0m ×2 + 69.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.496ms + 69.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051337 ms (missed cycles : 2). + 69.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051337 ms (missed cycles : 2).[0m ×2 + 69.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.613ms + 70.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 70.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608744 ms (missed cycles : 3). + 70.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608744 ms (missed cycles : 3).[0m ×2 + 70.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 71.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.963ms + 71.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.056ms + 71.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525461 ms (missed cycles : 4). + 71.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525461 ms (missed cycles : 4).[0m ×2 + 72.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.931ms + 72.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.920ms + 72.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357393 ms (missed cycles : 4). + 72.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357393 ms (missed cycles : 4).[0m ×2 + 72.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.859ms + 73.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 73.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.472ms + 73.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719931 ms (missed cycles : 2). + 73.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719931 ms (missed cycles : 2).[0m ×2 + 74.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.191ms + 75.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745222 ms (missed cycles : 5). + 75.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745222 ms (missed cycles : 5).[0m ×2 + 75.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.925ms + 76.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490199 ms (missed cycles : 3). + 76.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490199 ms (missed cycles : 3).[0m ×2 + 76.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793753645.81374574 seconds ×3 + 76.23sINFOstate_estimatorReceived a set_pose request (stamp: 1793753645841269847, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 76.31sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.40) is out of map bounds (-3.70, 3.35) to (1.28, 8.33). The costmap cannot raytrace for it. + 76.31sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.04) is out of map bounds (-3.70, 3.35) to (1.28, 8.33). The costmap cannot raytrace for it. + 76.41sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 76.41sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 76.62sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.855ms + 76.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 76.74sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 76.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793753646.41617727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872799 ms (missed cycles : 3). + 77.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872799 ms (missed cycles : 3).[0m ×2 + 78.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590315 ms (missed cycles : 5). + 78.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590315 ms (missed cycles : 5).[0m ×2 + 78.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 78.33sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 78.33sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549793, y=-0.0158514, yaw=-0.0124227 + 78.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.506ms + 79.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595113 ms (missed cycles : 4). + 79.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595113 ms (missed cycles : 4).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	189 warnings · 236 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.080ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.655ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.923ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895849 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895849 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.565ms + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.896ms + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.465ms + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943145 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943145 ms (missed cycles : 4).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793753409.64030480 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.88sINFOstate_estimatorReceived a set_pose request (stamp: 1793753409654621918, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.747ms ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793753410.23394203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.712ms + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.49sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568524, y=-0.017178, yaw=-0.0183894 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740138 ms (missed cycles : 6). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740138 ms (missed cycles : 6).[0m ×2 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.757ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750440 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750440 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824876 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824876 ms (missed cycles : 5).[0m ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.08sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433571 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433571 ms (missed cycles : 2).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577146 ms (missed cycles : 3). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577146 ms (missed cycles : 3).[0m ×2 + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.214ms + 8.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.261ms + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610832 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610832 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.490ms + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818598 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818598 ms (missed cycles : 3).[0m ×2 + 10.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.270ms + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.142ms + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632268 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632268 ms (missed cycles : 3).[0m ×2 + 11.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.443ms + 12.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.131ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287496 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287496 ms (missed cycles : 2).[0m ×2 + 12.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.286ms + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539153 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539153 ms (missed cycles : 2).[0m ×2 + 13.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.405ms + 14.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.063ms + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462911 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462911 ms (missed cycles : 3).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.260ms + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044605 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044605 ms (missed cycles : 2).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.871ms + 15.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.484ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944817 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944817 ms (missed cycles : 2).[0m ×2 + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.547ms + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125180 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125180 ms (missed cycles : 2).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.499ms + 17.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.451ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136196 ms (missed cycles : 4). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136196 ms (missed cycles : 4).[0m ×2 + 18.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.527ms + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.413ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937155 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937155 ms (missed cycles : 3).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.753ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467073 ms (missed cycles : 4). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467073 ms (missed cycles : 4).[0m ×2 + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.364ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.345ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832905 ms (missed cycles : 4). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832905 ms (missed cycles : 4).[0m ×2 + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.332ms + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.553ms + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701002 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701002 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.590ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387862 ms (missed cycles : 3). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387862 ms (missed cycles : 3).[0m ×2 + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.028ms + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.965ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872434 ms (missed cycles : 3). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872434 ms (missed cycles : 3).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.295ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583701 ms (missed cycles : 4). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583701 ms (missed cycles : 4).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.803ms + 26.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.838ms + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880605 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880605 ms (missed cycles : 2).[0m ×2 + 27.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.379ms + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029686 ms (missed cycles : 5). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.029686 ms (missed cycles : 5).[0m ×2 + 27.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.224ms + 28.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.046ms + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680813 ms (missed cycles : 2). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680813 ms (missed cycles : 2).[0m ×2 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.161ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238513 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238513 ms (missed cycles : 2).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.713ms + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.914ms + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956423 ms (missed cycles : 2). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956423 ms (missed cycles : 2).[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.945ms + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486226 ms (missed cycles : 3). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486226 ms (missed cycles : 3).[0m ×2 + 31.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.948ms + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.533ms + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865308 ms (missed cycles : 3). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865308 ms (missed cycles : 3).[0m ×2 + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.143ms + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382290 ms (missed cycles : 3). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382290 ms (missed cycles : 3).[0m ×2 + 34.49sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.53sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.484ms + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248315 ms (missed cycles : 4). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248315 ms (missed cycles : 4).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022941 ms (missed cycles : 5). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.022941 ms (missed cycles : 5).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490285 ms (missed cycles : 6). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490285 ms (missed cycles : 6).[0m ×2 + 37.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.004ms + 38.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926528 ms (missed cycles : 6). + 38.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926528 ms (missed cycles : 6).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792569 ms (missed cycles : 6). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.792569 ms (missed cycles : 6).[0m ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841806 ms (missed cycles : 5). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841806 ms (missed cycles : 5).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651064 ms (missed cycles : 3). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651064 ms (missed cycles : 3).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.846ms + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406403 ms (missed cycles : 2). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406403 ms (missed cycles : 2).[0m ×2 + 42.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.043ms + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532913 ms (missed cycles : 4). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532913 ms (missed cycles : 4).[0m ×2 + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490228 ms (missed cycles : 3). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490228 ms (missed cycles : 3).[0m ×2 + 44.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.092ms + 45.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.089ms + 45.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146208 ms (missed cycles : 5). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146208 ms (missed cycles : 5).[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482818 ms (missed cycles : 3). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482818 ms (missed cycles : 3).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163445 ms (missed cycles : 4). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163445 ms (missed cycles : 4).[0m ×2 + 47.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.852ms + 48.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346250 ms (missed cycles : 3). + 48.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346250 ms (missed cycles : 3).[0m ×2 + 48.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.983ms + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604559 ms (missed cycles : 4). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604559 ms (missed cycles : 4).[0m ×2 + 50.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3). + 50.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543786 ms (missed cycles : 3).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.189ms + 51.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848094 ms (missed cycles : 2). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848094 ms (missed cycles : 2).[0m ×2 + 52.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.561ms + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464710 ms (missed cycles : 3). + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464710 ms (missed cycles : 3).[0m ×2 + 54.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341489 ms (missed cycles : 3). + 54.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341489 ms (missed cycles : 3).[0m ×2 + 55.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.487ms + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779430 ms (missed cycles : 4). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779430 ms (missed cycles : 4).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.163ms + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064706 ms (missed cycles : 5). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064706 ms (missed cycles : 5).[0m ×2 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 57.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 58.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 58.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 59.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 60.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 60.41sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.56sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.56sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 60.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 60.85sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 60.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.99sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.44sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 61.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 62.52sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 62.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 62.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 63.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 63.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	193 warnings · 215 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.04sINFOobjective_server_nodecaller: ×4 + 3.04sINFOobjective_server_nodetype: 0 ×4 + 3.04sINFOobjective_server_nodename: "" ×4 + 3.04sINFOobjective_server_nodeinstance_id: "" ×4 + 3.04sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.69sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.70sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729981 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729981 ms (missed cycles : 3).[0m ×2 + 8.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.369ms + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230806 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230806 ms (missed cycles : 2).[0m ×2 + 8.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.718ms + 9.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.192ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683779 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683779 ms (missed cycles : 3).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.804ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156836 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156836 ms (missed cycles : 5).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.524ms + 11.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.513ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518750 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518750 ms (missed cycles : 2).[0m ×2 + 12.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.938ms + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865688 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865688 ms (missed cycles : 3).[0m ×2 + 12.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.772ms + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.124ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533538 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533538 ms (missed cycles : 3).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.117ms + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.639ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740353 ms (missed cycles : 3). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740353 ms (missed cycles : 3).[0m ×2 + 15.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.794ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371607 ms (missed cycles : 4). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371607 ms (missed cycles : 4).[0m ×2 + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.996ms + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.073ms + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902198 ms (missed cycles : 5). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902198 ms (missed cycles : 5).[0m ×2 + 17.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.322ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791374 ms (missed cycles : 5). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791374 ms (missed cycles : 5).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.226ms + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.744ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714913 ms (missed cycles : 5). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714913 ms (missed cycles : 5).[0m ×2 + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.350ms + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009882 ms (missed cycles : 2). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009882 ms (missed cycles : 2).[0m ×2 + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.752ms + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.303ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250529 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250529 ms (missed cycles : 3).[0m ×2 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.446ms + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966098 ms (missed cycles : 3). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966098 ms (missed cycles : 3).[0m ×2 + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.423ms + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.864ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675397 ms (missed cycles : 3). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675397 ms (missed cycles : 3).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.204ms + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456855 ms (missed cycles : 3). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456855 ms (missed cycles : 3).[0m ×2 + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.367ms + 24.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.037ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704908 ms (missed cycles : 3). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704908 ms (missed cycles : 3).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.348ms + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012851 ms (missed cycles : 4). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012851 ms (missed cycles : 4).[0m ×2 + 26.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.532ms + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.982ms + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619947 ms (missed cycles : 3). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619947 ms (missed cycles : 3).[0m ×2 + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.709ms + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.099ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539141 ms (missed cycles : 3). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539141 ms (missed cycles : 3).[0m ×2 + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.414ms + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341121 ms (missed cycles : 4). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341121 ms (missed cycles : 4).[0m ×2 + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.007ms + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.460ms + 30.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746886 ms (missed cycles : 2). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746886 ms (missed cycles : 2).[0m ×2 + 31.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.732ms + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653613 ms (missed cycles : 3). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653613 ms (missed cycles : 3).[0m ×2 + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.368ms + 32.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.527ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799636 ms (missed cycles : 3). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799636 ms (missed cycles : 3).[0m ×2 + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.722ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974999 ms (missed cycles : 5). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974999 ms (missed cycles : 5).[0m ×2 + 34.10sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.13sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020564 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020564 ms (missed cycles : 2).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357679 ms (missed cycles : 5). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357679 ms (missed cycles : 5).[0m ×2 + 35.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.639ms + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3).[0m ×2 + 37.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.050ms + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124356 ms (missed cycles : 4). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124356 ms (missed cycles : 4).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604978 ms (missed cycles : 3). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604978 ms (missed cycles : 3).[0m ×2 + 39.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.137ms + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283721 ms (missed cycles : 3). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283721 ms (missed cycles : 3).[0m ×2 + 41.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.084ms + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712095 ms (missed cycles : 3). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712095 ms (missed cycles : 3).[0m ×2 + 42.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.100ms + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670607 ms (missed cycles : 5). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670607 ms (missed cycles : 5).[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064153 ms (missed cycles : 3). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064153 ms (missed cycles : 3).[0m ×2 + 44.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.947ms + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965519 ms (missed cycles : 3). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965519 ms (missed cycles : 3).[0m ×2 + 45.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.218ms + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.457141 ms (missed cycles : 6). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.457141 ms (missed cycles : 6).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064529 ms (missed cycles : 5). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064529 ms (missed cycles : 5).[0m ×2 + 47.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.898ms + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485007 ms (missed cycles : 4). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485007 ms (missed cycles : 4).[0m ×2 + 48.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.389ms + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182757 ms (missed cycles : 5). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182757 ms (missed cycles : 5).[0m ×2 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894841 ms (missed cycles : 3). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894841 ms (missed cycles : 3).[0m ×2 + 50.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556727 ms (missed cycles : 5). + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.556727 ms (missed cycles : 5).[0m ×2 + 51.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.165ms + 51.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009579 ms (missed cycles : 2). + 51.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009579 ms (missed cycles : 2).[0m ×2 + 52.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819409 ms (missed cycles : 3). + 52.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819409 ms (missed cycles : 3).[0m ×2 + 53.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201211 ms (missed cycles : 2). + 53.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201211 ms (missed cycles : 2).[0m ×2 + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282469 ms (missed cycles : 3). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282469 ms (missed cycles : 3).[0m ×2 + 54.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.454ms + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221198 ms (missed cycles : 5). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221198 ms (missed cycles : 5).[0m ×2 + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084606 ms (missed cycles : 2). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084606 ms (missed cycles : 2).[0m ×2 + 58.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127081 ms (missed cycles : 5). + 58.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127081 ms (missed cycles : 5).[0m ×2 + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705007 ms (missed cycles : 3). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705007 ms (missed cycles : 3).[0m ×2 + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.595ms + 59.91sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793753709.79323363 seconds ×3 + 59.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793753709812178183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.62) is out of map bounds (-4.70, 5.95) to (0.28, 10.93). The costmap cannot raytrace for it. ×2 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.70, 5.95) to (0.28, 10.93). The costmap cannot raytrace for it. ×2 + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.16sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573198 ms (missed cycles : 3). + 60.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573198 ms (missed cycles : 3).[0m ×2 + 60.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.439ms + 60.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 60.43sINFOamclInitializing particles from estimated pose and covariance + 60.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 60.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569147, y=-0.017177, yaw=-0.0183898 + 60.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793753710.39696717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.937ms + 60.96sINFOobjective_server_nodeFound path in 0 iterations (5.36e-07 s). ×2 + 61.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047584 ms (missed cycles : 3). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047584 ms (missed cycles : 3).[0m ×2 + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848889 ms (missed cycles : 3). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848889 ms (missed cycles : 3).[0m ×2 + 63.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528880 ms (missed cycles : 3). + 63.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528880 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.2s	188 warnings · 235 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.926ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753506.23545027 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 + 2.75sINFOros2_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: 1793753506263075102, 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 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-4.63, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.999ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.23sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569196, y=-0.0171769, yaw=-0.0183899 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753506.84523916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.538ms + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504500 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504500 ms (missed cycles : 3).[0m ×2 + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.219ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692094 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692094 ms (missed cycles : 2).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.442ms + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233822 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233822 ms (missed cycles : 3).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.531ms ×2 + 10.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.106ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411683 ms (missed cycles : 5). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411683 ms (missed cycles : 5).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.771ms + 11.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.416ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711875 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711875 ms (missed cycles : 3).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.745ms + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824645 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824645 ms (missed cycles : 2).[0m ×2 + 12.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.334ms + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.426ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547357 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547357 ms (missed cycles : 4).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.960ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370210 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370210 ms (missed cycles : 3).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.366ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.155ms + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631565 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631565 ms (missed cycles : 3).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.632ms + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077457 ms (missed cycles : 3). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077457 ms (missed cycles : 3).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.510ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878772 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878772 ms (missed cycles : 2).[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.330ms + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.665ms + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901344 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901344 ms (missed cycles : 3).[0m ×2 + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.721ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.355ms + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252795 ms (missed cycles : 2). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252795 ms (missed cycles : 2).[0m ×2 + 21.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.716ms + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095495 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095495 ms (missed cycles : 3).[0m ×2 + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.553ms + 22.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.809ms + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607436 ms (missed cycles : 5). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607436 ms (missed cycles : 5).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.778ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643577 ms (missed cycles : 3). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643577 ms (missed cycles : 3).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.795ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.514ms + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762034 ms (missed cycles : 3). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762034 ms (missed cycles : 3).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.120ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867167 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867167 ms (missed cycles : 3).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.502ms + 26.36sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.527ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390399 ms (missed cycles : 3). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390399 ms (missed cycles : 3).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.813ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.821ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349391 ms (missed cycles : 4). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349391 ms (missed cycles : 4).[0m ×2 + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.617ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699828 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699828 ms (missed cycles : 2).[0m ×2 + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.433ms + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.640ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244820 ms (missed cycles : 2). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244820 ms (missed cycles : 2).[0m ×2 + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.665ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527145 ms (missed cycles : 3). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527145 ms (missed cycles : 3).[0m ×2 + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.854ms + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.917ms + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895928 ms (missed cycles : 3). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895928 ms (missed cycles : 3).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.904ms + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347344 ms (missed cycles : 4). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347344 ms (missed cycles : 4).[0m ×2 + 33.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.758ms + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344237 ms (missed cycles : 3). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344237 ms (missed cycles : 3).[0m ×2 + 34.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.717ms + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488046 ms (missed cycles : 4). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488046 ms (missed cycles : 4).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615735 ms (missed cycles : 5). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615735 ms (missed cycles : 5).[0m ×2 + 36.91sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.66sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659110 ms (missed cycles : 6). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659110 ms (missed cycles : 6).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152777 ms (missed cycles : 2). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152777 ms (missed cycles : 2).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.306ms + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466291 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466291 ms (missed cycles : 3).[0m ×2 + 40.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.925ms + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140783 ms (missed cycles : 3). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140783 ms (missed cycles : 3).[0m ×2 + 41.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.336ms + 41.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.470ms + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985791 ms (missed cycles : 2). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985791 ms (missed cycles : 2).[0m ×2 + 42.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.182ms + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898388 ms (missed cycles : 3). + 42.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898388 ms (missed cycles : 3).[0m ×2 + 43.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 14.104ms + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576824 ms (missed cycles : 3). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576824 ms (missed cycles : 3).[0m ×2 + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846042 ms (missed cycles : 2). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846042 ms (missed cycles : 2).[0m ×2 + 45.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.867ms + 46.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.452ms + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968711 ms (missed cycles : 3). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968711 ms (missed cycles : 3).[0m ×2 + 46.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.217ms + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725877 ms (missed cycles : 5). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725877 ms (missed cycles : 5).[0m ×2 + 47.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 12.598ms + 48.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.283ms + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545543 ms (missed cycles : 3). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545543 ms (missed cycles : 3).[0m ×2 + 48.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596814 ms (missed cycles : 5). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596814 ms (missed cycles : 5).[0m ×2 + 49.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.271ms + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756746 ms (missed cycles : 3). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756746 ms (missed cycles : 3).[0m ×2 + 50.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.885ms + 51.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.930ms + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002435 ms (missed cycles : 5). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002435 ms (missed cycles : 5).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.900ms + 52.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.638ms + 52.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541791 ms (missed cycles : 3). + 52.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541791 ms (missed cycles : 3).[0m ×2 + 53.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.043ms + 53.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3). + 53.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3).[0m ×2 + 54.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084020 ms (missed cycles : 5). + 54.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084020 ms (missed cycles : 5).[0m ×2 + 54.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.951ms + 55.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473358 ms (missed cycles : 6). + 55.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473358 ms (missed cycles : 6).[0m ×2 + 56.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.611ms + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683547 ms (missed cycles : 3). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683547 ms (missed cycles : 3).[0m ×2 + 57.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.371ms + 57.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793753561.42541409 seconds ×3 + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073911 ms (missed cycles : 6). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073911 ms (missed cycles : 6).[0m ×2 + 57.96sINFOstate_estimatorReceived a set_pose request (stamp: 1793753561437962826, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.03sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.98) is out of map bounds (-3.85, 3.90) to (1.13, 8.88). The costmap cannot raytrace for it. + 58.03sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.58) is out of map bounds (-3.85, 3.90) to (1.13, 8.88). The costmap cannot raytrace for it. + 58.13sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.13sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 58.33sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.666ms + 58.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 58.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 58.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793753562.03302002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.02sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416623 ms (missed cycles : 2). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416623 ms (missed cycles : 2).[0m ×2 + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380842 ms (missed cycles : 3). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380842 ms (missed cycles : 3).[0m ×2 + 60.07sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566659, y=-0.0171752, yaw=-0.018365 + 60.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.074ms + 61.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182376 ms (missed cycles : 3). + 61.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182376 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.2s	144 warnings · 425 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.93sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.97sINFOmove_groupClearing octomap...[0m ×2 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.97sINFOmove_groupOctomap cleared.[0m ×2 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.95sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.95sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147553 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147553 ms (missed cycles : 2).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 1108 particles 811 points - 8.636ms + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819504 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819504 ms (missed cycles : 2).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613450 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613450 ms (missed cycles : 3).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147441 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147441 ms (missed cycles : 2).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090664 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090664 ms (missed cycles : 2).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304192 ms (missed cycles : 2). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304192 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497067 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497067 ms (missed cycles : 3).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851588 ms (missed cycles : 5). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.851588 ms (missed cycles : 5).[0m ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674978 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674978 ms (missed cycles : 3).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934231 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934231 ms (missed cycles : 3).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564641 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564641 ms (missed cycles : 3).[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886396 ms (missed cycles : 2). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886396 ms (missed cycles : 2).[0m ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904484 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904484 ms (missed cycles : 2).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506644 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506644 ms (missed cycles : 3).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393844 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393844 ms (missed cycles : 3).[0m ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127540 ms (missed cycles : 3). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127540 ms (missed cycles : 3).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.713ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360200 ms (missed cycles : 3). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360200 ms (missed cycles : 3).[0m ×2 + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319975 ms (missed cycles : 3). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319975 ms (missed cycles : 3).[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835706 ms (missed cycles : 4). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835706 ms (missed cycles : 4).[0m ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434546 ms (missed cycles : 3). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434546 ms (missed cycles : 3).[0m ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129984 ms (missed cycles : 2). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129984 ms (missed cycles : 2).[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349675 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349675 ms (missed cycles : 3).[0m ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673510 ms (missed cycles : 5). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673510 ms (missed cycles : 5).[0m ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272408 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272408 ms (missed cycles : 2).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546527 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546527 ms (missed cycles : 3).[0m ×2 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373695 ms (missed cycles : 2). + 33.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373695 ms (missed cycles : 2).[0m ×2 + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726313 ms (missed cycles : 2). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726313 ms (missed cycles : 2).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982918 ms (missed cycles : 4). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982918 ms (missed cycles : 4).[0m ×2 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899482 ms (missed cycles : 2). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899482 ms (missed cycles : 2).[0m ×2 + 37.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.218ms + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685533 ms (missed cycles : 3). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685533 ms (missed cycles : 3).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718897 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718897 ms (missed cycles : 2).[0m ×2 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443770 ms (missed cycles : 3). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443770 ms (missed cycles : 3).[0m ×2 + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936869 ms (missed cycles : 2). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936869 ms (missed cycles : 2).[0m ×2 + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904200 ms (missed cycles : 2). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904200 ms (missed cycles : 2).[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3).[0m ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2).[0m ×2 + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3).[0m ×2 + 46.19sINFOjoint_trajectory_controllerGoal reached, success! + 46.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753403.49990582 seconds ×3 + 46.21sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.21sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.23sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 46.23sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 46.23sINFOstate_estimatorReceived a set_pose request (stamp: 1793753403519683735, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4). + 46.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4).[0m ×2 + 46.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.74sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753404.09004831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.81sWARNobjective_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 + 46.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 46.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 46.87sINFOamclInitializing particles from estimated pose and covariance + 46.87sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 46.87sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 47.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.658ms + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3).[0m ×2 + 47.90sINFOobjective_server_nodeFound path in 0 iterations (2.3545e-05 s). ×2 + 47.97sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3). + 48.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3).[0m ×2 + 49.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.186ms + 49.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 49.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 49.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2). + 49.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2).[0m ×2 + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.080ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	119 warnings · 185 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107123 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107123 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738223 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738223 ms (missed cycles : 3).[0m ×2 + 1.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.95sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793753473.60654140 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589213 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589213 ms (missed cycles : 3).[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654318 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654318 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793753475.19523501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805990 ms (missed cycles : 5). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805990 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477570 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477570 ms (missed cycles : 4).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098614 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098614 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091429 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091429 ms (missed cycles : 4).[0m ×2 + 8.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.216ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964052 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964052 ms (missed cycles : 3).[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.598ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762721 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762721 ms (missed cycles : 3).[0m ×2 + 9.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.458ms + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.352ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195221 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195221 ms (missed cycles : 2).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.172ms + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.616ms + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231523 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231523 ms (missed cycles : 3).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.918ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444604 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444604 ms (missed cycles : 3).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.386ms + 13.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.880ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032095 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032095 ms (missed cycles : 4).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.699ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535574 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535574 ms (missed cycles : 3).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.550ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.770ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572647 ms (missed cycles : 4). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572647 ms (missed cycles : 4).[0m ×2 + 16.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.407ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.817ms + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752094 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752094 ms (missed cycles : 3).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.231ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949218 ms (missed cycles : 3). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949218 ms (missed cycles : 3).[0m ×2 + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.427ms + 18.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.114ms + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598893 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598893 ms (missed cycles : 3).[0m ×2 + 19.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.454ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.492ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931160 ms (missed cycles : 3). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931160 ms (missed cycles : 3).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.980ms + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668865 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668865 ms (missed cycles : 3).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.879ms + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.897ms + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790960 ms (missed cycles : 3). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790960 ms (missed cycles : 3).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850163 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850163 ms (missed cycles : 3).[0m ×2 + 23.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.773ms + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.795ms + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120667 ms (missed cycles : 3). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120667 ms (missed cycles : 3).[0m ×2 + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.313ms + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071888 ms (missed cycles : 4). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071888 ms (missed cycles : 4).[0m ×2 + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.989ms + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.167ms + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840007 ms (missed cycles : 3). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840007 ms (missed cycles : 3).[0m ×2 + 27.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.272ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495218 ms (missed cycles : 3). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495218 ms (missed cycles : 3).[0m ×2 + 27.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.940ms + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.807ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752240 ms (missed cycles : 3). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752240 ms (missed cycles : 3).[0m ×2 + 29.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.896ms + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680852 ms (missed cycles : 3). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680852 ms (missed cycles : 3).[0m ×2 + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.787ms + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.387ms + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133488 ms (missed cycles : 2). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133488 ms (missed cycles : 2).[0m ×2 + 31.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.495ms + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2).[0m ×2 + 31.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.926ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2).[0m ×2 + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4).[0m ×2 + 34.58sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753506.23545027 seconds ×3 + 34.61sINFOstate_estimatorReceived a set_pose request (stamp: 1793753506263075102, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.68sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 34.68sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 34.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 34.78sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.78sWARNlocal_costmap.local_costmapSensor origin at (-4.63, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4).[0m ×2 + 35.08sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.999ms + 35.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 35.08sINFOamclInitializing particles from estimated pose and covariance + 35.08sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 35.08sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569196, y=-0.0171769, yaw=-0.0183899 + 35.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.13sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753506.84523916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.538ms + 35.60sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.5s	76 warnings · 258 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084606 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084606 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127081 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127081 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705007 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705007 ms (missed cycles : 3).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.595ms + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793753709.79323363 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.68sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.69sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.69sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.70sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×3 + 2.70sINFOstate_estimatorReceived a set_pose request (stamp: 1793753709812178183, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.70sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×6 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.62) is out of map bounds (-4.70, 5.95) to (0.28, 10.93). The costmap cannot raytrace for it. ×2 + 2.72sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.58) is out of map bounds (-4.70, 5.95) to (0.28, 10.93). The costmap cannot raytrace for it. ×2 + 2.76sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.65) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573198 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573198 ms (missed cycles : 3).[0m ×2 + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.439ms + 3.18sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.18sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.19sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569147, y=-0.017177, yaw=-0.0183898 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.21sINFOobjective_server_nodecaller: ×6 + 3.21sINFOobjective_server_nodetype: 0 ×6 + 3.21sINFOobjective_server_nodename: "" ×6 + 3.21sINFOobjective_server_nodeinstance_id: "" ×6 + 3.21sINFOobjective_server_node ×6 + 3.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793753710.39696717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.937ms + 3.72sINFOobjective_server_nodeFound path in 0 iterations (5.36e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047584 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047584 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848889 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848889 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528880 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528880 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214851 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214851 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770387 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770387 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275320 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275320 ms (missed cycles : 3).[0m ×2 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 9.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.08sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 10.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879599 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879599 ms (missed cycles : 3).[0m ×2 + 10.98sINFOobjective_server_nodeFound path in 33 iterations (0.034551 s). ×2 + 11.47sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (7.22e-07 s). ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857349 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857349 ms (missed cycles : 3).[0m ×2 + 12.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.26sINFOobjective_server_nodeFound path in 0 iterations (6.13e-07 s). ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349271 ms (missed cycles : 5). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349271 ms (missed cycles : 5).[0m ×2 + 12.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.17sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893146 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893146 ms (missed cycles : 3).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224079 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224079 ms (missed cycles : 3).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.363ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747864 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747864 ms (missed cycles : 3).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.757ms + 16.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931442 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931442 ms (missed cycles : 2).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.048ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3).[0m ×2 + 19.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793753726.29990602 seconds ×3 + 19.21sINFOstate_estimatorReceived a set_pose request (stamp: 1793753726326285014, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.61sINFOamclParticle filter update iteration stats: 1714 particles 811 points - 6.626ms + 19.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793753726.93143058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.81sINFOmove_groupClearing octomap...[0m ×2 + 19.81sINFOmove_groupOctomap cleared.[0m ×2 + 19.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2).[0m ×2 + 20.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793753727.89161849 seconds ×3 + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2).[0m ×2 + 21.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793753728.47121644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.363ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3).[0m ×2 + 22.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793753729.57138181 seconds ×3 + 22.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.5s	113 errors · 30 warnings · 545 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3).[0m ×2 + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793753726.29990602 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.20sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.22sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 1.22sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 1.22sINFOstate_estimatorReceived a set_pose request (stamp: 1793753726326285014, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.62sINFOamclParticle filter update iteration stats: 1714 particles 811 points - 6.626ms + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.74sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.74sINFOobjective_server_nodecaller: ×4 + 1.74sINFOobjective_server_nodetype: 0 ×4 + 1.74sINFOobjective_server_nodename: "" ×4 + 1.74sINFOobjective_server_nodeinstance_id: "" ×4 + 1.74sINFOobjective_server_node ×4 + 1.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793753726.93143058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.82sINFOmove_groupClearing octomap...[0m ×2 + 1.82sINFOmove_groupOctomap cleared.[0m ×2 + 1.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793753727.89161849 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793753728.47121644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.45sINFOamclInitializing particles from estimated pose and covariance + 3.45sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.363ms + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793753729.57138181 seconds ×3 + 4.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571237 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571237 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875320 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875320 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614777 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614777 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529893 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529893 ms (missed cycles : 3).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341548 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341548 ms (missed cycles : 2).[0m ×2 + 10.04sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.05sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.06sERRORweb_video_auth_proxy-41process has died [pid 8301, 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 + 10.06sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_bridge_auth_proxy-40process has died [pid 8298, 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 + 10.06sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.12sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.13sINFOvideo_server-39process has finished cleanly [pid 8279] ×2 + 10.14sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.15sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.15sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.16sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.17sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.18sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 10.19sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 10.21sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.22sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 10.23sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 10.25sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 10.26sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 10.28sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 10.29sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 10.31sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 10.31sINFOcontroller_managerShutdown request received.... + 10.31sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.31sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.31sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.31sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.31sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.31sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.31sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.31sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.31sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.31sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.31sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.31sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.31sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.31sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.31sINFOcontroller_managerShutting down the controller manager. + 10.32sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 10.33sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 10.35sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 10.35sERRORmove_group-25process has died [pid 8250, 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_5ous3hif --params-file /tmp/launch_params_bjf2vzn_ --params-file /tmp/launch_params_xavyx6ss --params-file /tmp/launch_params_bsg724oi --params-file /tmp/launch_params_72u1whv8 --params-file /tmp/launch_params_d0ti_tnc']. ×2 + 10.36sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.37sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.38sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.39sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 10.40sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 10.41sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 10.42sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.43sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.43sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.43sINFOmap_serverDeactivating + 10.43sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.44sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.44sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.44sINFOcontroller_serverDeactivating + 10.44sINFOlocal_costmap.local_costmapDeactivating + 10.44sINFOvideo_server2026/11/04 00:55:35 INF shutting down gracefully ×2 + 10.44sINFOvideo_server2026/11/04 00:55:35 INF [WebRTC] closing ×2 + 10.44sINFOvideo_server2026/11/04 00:55:35 INF [RTSP] closing ×2 + 10.44sINFOvideo_server2026/11/04 00:55:35 INF waiting for running hooks ×2 + 10.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.44sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmap_serverCleaning up + 10.44sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.44sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.44sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.45sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.45sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.45sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.45sERRORmove_groupStack trace (most recent call last) in thread 8914: ×2 + 10.45sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.45sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8169de5cc3, in __clone ×2 + 10.45sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8169d58b83, in ×2 + 10.45sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8169fe9db3, in ×2 + 10.45sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f816a753e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.45sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f816a37d620, in rclcpp::Rate::sleep() ×2 + 10.45sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f816a2bfd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.45sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f816a281087, in ×2 + 10.45sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8169fb8390, in __cxa_throw ×2 + 10.45sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8169fa2a54, in std::terminate() ×2 + 10.45sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8169fb80d9, in ×2 + 10.45sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8169fa2ff4, in ×2 + 10.45sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.45sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.45sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.45sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.45sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.45sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8169ce48fe, in abort ×2 + 10.45sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8169d0127d, in raise ×2 + 10.45sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8169d5ac0c, in pthread_kill ×2 + 10.45sERRORmove_groupAborted (Signal sent by tkill() 8250 0) ×2 + 10.45sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.45sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.45sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.45sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sERRORamclThe bond connection to the lifecycle manager has been broken + 10.52sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.53sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.53sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.53sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.54sINFOcontroller_serverCleaning up + 10.54sINFOlocal_costmap.local_costmapCleaning up + 10.58sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.58sINFOsmoother_serverDeactivating + 10.58sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.59sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.59sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.59sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.59sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.59sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.59sINFOvelocity_smootherDeactivating + 10.59sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.59sINFOsmoother_serverCleaning up + 10.61sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.61sINFOplanner_serverDeactivating + 10.61sINFOglobal_costmap.global_costmapDeactivating + 10.80sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.80sINFOwaypoint_followerDeactivating + 10.80sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.91sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.91sINFObt_navigatorDeactivating + 10.91sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.09sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.09sINFObehavior_serverDeactivating + 11.09sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.18sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.18sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.19sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8277] ×2 + 11.19sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.19sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.19sINFOjoint_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 + 11.19sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.19sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.19sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.19sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 11.19sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.19sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.19sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.19sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.19sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.19sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.19sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.20sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.20sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.20sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.20sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.21sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.21sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.21sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.21sINFOvelocity_smootherCleaning up + 11.21sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.21sINFOwaypoint_followerCleaning up + 11.24sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.24sINFObt_navigatorCleaning up + 11.24sERRORjoint_state_visualization_relay-37process has died [pid 8273, 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_rq00ych7']. ×2 + 11.24sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 11.26sINFOtf_visualization_relay-36process has finished cleanly [pid 8272] ×2 + 11.26sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 11.30sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8256] ×2 + 11.30sINFOui_teleop_bridge-34process has finished cleanly [pid 8264] ×2 + 11.32sINFOexecute_objective_bridge-33process has finished cleanly [pid 8263] ×2 + 11.32sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8255] ×2 + 11.34sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.34sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.35sINFOplanner_serverCleaning up + 11.36sINFOparameter_manager_node-26process has finished cleanly [pid 8251] ×2 + 11.37sINFOglobal_costmap.global_costmapCleaning up + 11.38sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.38sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.38sINFOwaypoint_manager_node-27process has finished cleanly [pid 8252] ×2 + 11.39sINFOcomponent_container_mt-32process has finished cleanly [pid 8262] ×2 + 11.39sINFOrelay-11process has finished cleanly [pid 8189] ×2 + 11.40sINFOrelay-10process has finished cleanly [pid 8188] ×2 + 11.41sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8084] ×2 + 11.42sINFObt_navigatorCompleted Cleaning up + 11.42sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.42sINFObehavior_serverCleaning up + 11.42sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.42sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.42sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.42sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.42sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.42sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8190] ×2 + 11.42sINFOobjective_server_node[2026-11-04 00:55:36.533] [moveit_pro_license] [critical] ×2 + 11.42sINFOobjective_server_node************************************************* ×4 + 11.42sINFOobjective_server_node* MoveIt Pro License ×2 + 11.42sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.42sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8083] ×2 + 11.43sINFOstatic_transform_publisher-7process has finished cleanly [pid 8082] ×2 + 11.44sINFOstatic_transform_publisher-6process has finished cleanly [pid 8081] ×2 + 11.45sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.45sINFOlidar_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 + 11.45sINFOlidar_flattener.pymain() ×2 + 11.45sINFOlidar_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 + 11.45sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.45sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.45sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.45sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.45sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.45sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.45sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.45sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.45sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.45sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.45sINFOcomponent_container_mt-31process has finished cleanly [pid 8261] ×2 + 11.47sINFOstatic_transform_publisher-3process has finished cleanly [pid 8078] ×2 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.49sERRORlidar_flattener.py-5process has died [pid 8080, 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_6unh45w2']. ×2 + 11.50sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.50sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.50sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.64sINFOobjective_server_node_main-30process has finished cleanly [pid 8258] ×2 + 11.64sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 11.75sERRORcomponent_container_isolated-1process has died [pid 8076, 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_05lkf4hb --params-file /tmp/launch_params_i9gj0l1s -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.45sINFOodom_world_drift-4process has finished cleanly [pid 8079] ×2 + 12.74sERRORcomponent_container_isolated-2process has died [pid 8077, 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_05lkf4hb --params-file /tmp/launch_params_xygaqfbf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.05sINFOros2_control_node-13process has finished cleanly [pid 8191] ×2 + 13.19sINFOweb_bridge-35process has finished cleanly [pid 8266] ×2 + 13.19sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 65 warnings · 169 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084020 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084020 ms (missed cycles : 5).[0m ×2 + 0.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.951ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473358 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.473358 ms (missed cycles : 6).[0m ×2 + 1.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.611ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683547 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683547 ms (missed cycles : 3).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.371ms + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793753561.42541409 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073911 ms (missed cycles : 6). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073911 ms (missed cycles : 6).[0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1793753561437962826, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.98) is out of map bounds (-3.85, 3.90) to (1.13, 8.88). The costmap cannot raytrace for it. + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.58) is out of map bounds (-3.85, 3.90) to (1.13, 8.88). The costmap cannot raytrace for it. + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 10.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.26sWARNlocal_costmap.local_costmapSensor origin at (-2.64, 11.58) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.666ms + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793753562.03302002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416623 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416623 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380842 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380842 ms (missed cycles : 3).[0m ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.20sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.20sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.20sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566659, y=-0.0171752, yaw=-0.018365 + 5.56sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.074ms + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182376 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182376 ms (missed cycles : 3).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309356 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309356 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947985 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947985 ms (missed cycles : 3).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.318ms + 9.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.607ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007337 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007337 ms (missed cycles : 3).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.784ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574316 ms (missed cycles : 4). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574316 ms (missed cycles : 4).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.344ms + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.578ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043138 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043138 ms (missed cycles : 2).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.535ms + 12.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.679ms + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332780 ms (missed cycles : 3). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332780 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.478ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984962 ms (missed cycles : 5). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.984962 ms (missed cycles : 5).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.331ms + 13.92sINFOobjective_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 + 13.93sINFOjoint_trajectory_controllerGot request to cancel goal + 13.93sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1793753572.34579897 seconds ×3 + 14.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753572363228660, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 14.16sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.16sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.26sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.26sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.52sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.329ms + 14.52sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569217, y=-0.0171793, yaw=-0.0183994 + 14.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793753572.94330287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.086ms + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616238 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616238 ms (missed cycles : 3).[0m ×2 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286220 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286220 ms (missed cycles : 3).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395835 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395835 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	48 warnings · 149 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.93sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107123 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107123 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738223 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738223 ms (missed cycles : 3).[0m ×2 + 9.41sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793753473.60654140 seconds ×3 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589213 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589213 ms (missed cycles : 3).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654318 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654318 ms (missed cycles : 4).[0m ×2 + 10.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793753475.19523501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805990 ms (missed cycles : 5). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805990 ms (missed cycles : 5).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477570 ms (missed cycles : 4). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477570 ms (missed cycles : 4).[0m ×2 + 13.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098614 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098614 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	46 warnings · 148 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.568ms + 0.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 13.472ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719931 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719931 ms (missed cycles : 2).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.191ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745222 ms (missed cycles : 5). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.745222 ms (missed cycles : 5).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.925ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490199 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490199 ms (missed cycles : 3).[0m ×2 + 2.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.99sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793753645.81374574 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.03sINFOstate_estimatorReceived a set_pose request (stamp: 1793753645841269847, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.03sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.40) is out of map bounds (-3.70, 3.35) to (1.28, 8.33). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.04) is out of map bounds (-3.70, 3.35) to (1.28, 8.33). The costmap cannot raytrace for it. + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.41, 14.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.23, 14.04) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.855ms + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793753646.41617727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872799 ms (missed cycles : 3). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872799 ms (missed cycles : 3).[0m ×2 + 4.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590315 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590315 ms (missed cycles : 5).[0m ×2 + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg) + 5.13sINFOamclInitializing particles from estimated pose and covariance + 5.13sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.05, -0.02, -0.7 deg)[0m ×2 + 5.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0549793, y=-0.0158514, yaw=-0.0124227 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.506ms + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595113 ms (missed cycles : 4). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595113 ms (missed cycles : 4).[0m ×2 + 7.05sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 9.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 10.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.09sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 12.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	42 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.87sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753403.49990582 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.91sINFOstate_estimatorReceived a set_pose request (stamp: 1793753403519683735, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753404.09004831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sWARNobjective_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 + 3.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.55sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.658ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.3545e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3).[0m ×2 + 5.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.186ms + 6.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 6.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.080ms + 7.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.655ms + 7.45sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.923ms + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895849 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895849 ms (missed cycles : 2).[0m ×2 + 7.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 8.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.565ms + 8.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.896ms + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.465ms + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943145 ms (missed cycles : 4). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943145 ms (missed cycles : 4).[0m ×2 + 9.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793753409.64030480 seconds ×3 + 9.04sINFOstate_estimatorReceived a set_pose request (stamp: 1793753409654621918, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.24sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.747ms + 9.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.56sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793753410.23394203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.712ms + 9.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568524, y=-0.017178, yaw=-0.0183894 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740138 ms (missed cycles : 6). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740138 ms (missed cycles : 6).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.757ms + 10.02sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750440 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750440 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824876 ms (missed cycles : 5). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824876 ms (missed cycles : 5).[0m ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433571 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433571 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	24 warnings · 126 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931442 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931442 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.048ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793753726.29990602 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1793753726326285014, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.95sINFOamclParticle filter update iteration stats: 1714 particles 811 points - 6.626ms + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793753726.93143058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793753727.89161849 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793753728.47121644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.77sINFOamclInitializing particles from estimated pose and covariance + 4.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.363ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793753729.57138181 seconds ×3 + 6.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571237 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571237 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875320 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875320 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.8s	6 errors · 21 warnings · 708 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.63sINFOobjective_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: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 0.75sINFOobjective_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 + 0.76sINFOobjective_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: "" ×2 + 0.77sINFOobjective_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 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 7.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	Close Gripper	close_gripper.xml	0.6s	6 errors · 24 warnings · 817 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: "" + 0.29sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.29sINFOobjective_server_nodeobjective_name: "" ×12 + 0.29sINFOobjective_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 + 0.29sINFOobjective_server_node ×68 + 0.29sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.29sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.29sINFOobjective_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 + 0.29sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.29sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.29sINFOobjective_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 + 0.29sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.29sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.29sINFOobjective_server_node</Control> ×24 + 0.29sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.29sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.29sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.29sINFOobjective_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 + 0.29sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.29sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.29sINFOobjective_server_nodecaller: ×26 + 0.29sINFOobjective_server_nodetype: 0 ×26 + 0.29sINFOobjective_server_nodename: "" ×26 + 0.29sINFOobjective_server_nodeinstance_id: "" ×26 + 0.33sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 0.47sINFOobjective_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 + 0.47sINFOobjective_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 + 0.51sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.60sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.61sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.61sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.61sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 1.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.13sINFOobjective_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=\"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 + 1.17sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 1.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 1.25sINFOobjective_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 + 1.31sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 1.93sINFOobjective_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: "" + 1.93sINFOobjective_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 + 1.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 2.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.84sINFOmove_groupClearing octomap...[0m ×4 + 2.84sINFOmove_groupOctomap cleared.[0m ×4 + 2.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 6.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.93sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2
− skipped	Navigate Hangar Loop	navigate_hangar_loop.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.926ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753506.23545027 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793753506263075102, 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 ] + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-4.63, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.999ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.23sINFOamclInitializing particles from estimated pose and covariance + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569196, y=-0.0171769, yaw=-0.0183899 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753506.84523916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.538ms + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 341 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.11sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.13sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×6 + 0.13sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×12 + 0.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.75sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.93sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.97sINFOmove_groupClearing octomap...[0m ×2 + 2.97sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.97sINFOmove_groupOctomap cleared.[0m ×2 + 2.97sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.95sINFOjoint_trajectory_controllerAccepted new action goal + 4.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753403.49990582 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.91sINFOstate_estimatorReceived a set_pose request (stamp: 1793753403519683735, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753404.09004831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sWARNobjective_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 + 3.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.55sINFOamclInitializing particles from estimated pose and covariance + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.658ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.3545e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3).[0m ×2 + 5.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.186ms + 6.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 6.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.080ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898632 ms (missed cycles : 3).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763561 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505977 ms (missed cycles : 3).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753403.49990582 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.91sINFOstate_estimatorReceived a set_pose request (stamp: 1793753403519683735, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043382 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753404.09004831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sWARNobjective_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 + 3.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.679ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.55sINFOamclInitializing particles from estimated pose and covariance + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568357, y=-0.0171783, yaw=-0.0183893 + 3.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.658ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553029 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.3545e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244745 ms (missed cycles : 3).[0m ×2 + 5.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.186ms + 6.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 6.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.080ms
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 89 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.793ms + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.690ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462927 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.080ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.655ms + 1.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.923ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895849 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895849 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.202ms + 1.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.565ms + 2.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.896ms + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.465ms + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943145 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943145 ms (missed cycles : 4).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793753409.64030480 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.88sINFOstate_estimatorReceived a set_pose request (stamp: 1793753409654621918, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.89sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.08sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.747ms + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793753410.23394203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.712ms + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.49sINFOamclInitializing particles from estimated pose and covariance + 3.49sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568524, y=-0.017178, yaw=-0.0183894 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740138 ms (missed cycles : 6). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.740138 ms (missed cycles : 6).[0m ×2 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.757ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750440 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750440 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824876 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824876 ms (missed cycles : 5).[0m ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.08sINFOjoint_trajectory_controllerReceived new action goal + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433571 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433571 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal + 4.36sINFOjoint_trajectory_controllerAccepted new action goal + 4.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot	localize_robot.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal + 4.36sINFOjoint_trajectory_controllerAccepted new action goal + 4.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2
− skipped	Localize Robot If Needed	localize_robot_if_needed.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal + 4.36sINFOjoint_trajectory_controllerAccepted new action goal + 4.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal + 4.36sINFOjoint_trajectory_controllerAccepted new action goal + 4.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal + 4.36sINFOjoint_trajectory_controllerAccepted new action goal + 4.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 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	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal + 4.36sINFOjoint_trajectory_controllerAccepted new action goal + 4.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	27 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742665 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225183 ms (missed cycles : 3).[0m ×2 + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105345 ms (missed cycles : 5).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753467.15407372 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.00sINFOstate_estimatorReceived a set_pose request (stamp: 1793753467176352055, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511856 ms (missed cycles : 3).[0m ×2 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.561ms + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.57sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753467.76634574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767971 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.36sINFOjoint_trajectory_controllerReceived new action goal + 4.36sINFOjoint_trajectory_controllerAccepted new action goal + 4.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg) + 5.11sINFOamclInitializing particles from estimated pose and covariance + 5.11sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.0 deg)[0m ×2 + 5.11sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0550716, y=-0.0166782, yaw=-0.0173763 + 5.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.901ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986065 ms (missed cycles : 5).[0m ×2 + 5.67sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693495 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.926ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753506.23545027 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793753506263075102, 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 ] + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-4.63, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.999ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.23sINFOamclInitializing particles from estimated pose and covariance + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569196, y=-0.0171769, yaw=-0.0183899 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753506.84523916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.538ms + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.926ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753506.23545027 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793753506263075102, 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 ] + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-4.63, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.999ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.23sINFOamclInitializing particles from estimated pose and covariance + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569196, y=-0.0171769, yaw=-0.0183899 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753506.84523916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.538ms + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	29 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702514 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.509ms + 0.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.926ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934153 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.302ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319199 ms (missed cycles : 4).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753506.23545027 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.77sINFOstate_estimatorReceived a set_pose request (stamp: 1793753506263075102, 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 ] + 2.77sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.83sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-3.90, 1.90) to (1.08, 6.88). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.382ms + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-3.73, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.93sWARNlocal_costmap.local_costmapSensor origin at (-4.63, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641805 ms (missed cycles : 4).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.999ms + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.23sINFOamclInitializing particles from estimated pose and covariance + 3.23sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.23sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569196, y=-0.0171769, yaw=-0.0183899 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753506.84523916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.538ms + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288733 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151440 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395052 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place	refine_localization_in_place.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Refine Localization In Place Subtree	refine_localization_in_place_subtree.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	6 errors · 18 warnings · 587 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 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: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 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>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.14sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.67sINFOobjective_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 + 0.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.68sINFOobjective_server_node</Control> ×8 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.68sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 1.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.59sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_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 + 5.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.68sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 71 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070462 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421622 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498706 ms (missed cycles : 3).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793753652.36635756 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.04sINFOobjective_server_nodecaller: ×2 + 3.04sINFOobjective_server_nodetype: 0 ×2 + 3.04sINFOobjective_server_nodename: "" ×2 + 3.04sINFOobjective_server_nodeinstance_id: "" ×2 + 3.04sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793753652.98306489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645558 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618480 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683925 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475904 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 126 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.377ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931442 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931442 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.048ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477626 ms (missed cycles : 3).[0m ×2 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903462 ms (missed cycles : 3).[0m ×2 + 2.49sINFOjoint_trajectory_controllerGoal reached, success! + 2.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793753726.29990602 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×4 + 2.55sINFOstate_estimatorReceived a set_pose request (stamp: 1793753726326285014, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.95sINFOamclParticle filter update iteration stats: 1714 particles 811 points - 6.626ms + 3.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.06sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.06sINFOobjective_server_nodecaller: ×4 + 3.06sINFOobjective_server_nodetype: 0 ×4 + 3.06sINFOobjective_server_nodename: "" ×4 + 3.06sINFOobjective_server_nodeinstance_id: "" ×4 + 3.06sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793753726.93143058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.15sINFOmove_groupClearing octomap...[0m ×2 + 3.15sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917461 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793753727.89161849 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161462 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793753728.47121644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 4.77sINFOamclInitializing particles from estimated pose and covariance + 4.77sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 4.78sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568682, y=-0.0171807, yaw=-0.0184011 + 4.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 19.363ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466578 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793753729.57138181 seconds ×3 + 6.03sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	3 errors · 24 warnings · 453 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 0.12sINFOobjective_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=\"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: "" + 0.12sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.13sINFOobjective_server_nodeobjective_name: "" ×2 + 0.13sINFOobjective_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 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.13sINFOobjective_server_nodecaller: ×16 + 0.13sINFOobjective_server_nodetype: 0 ×16 + 0.13sINFOobjective_server_nodename: "" ×16 + 0.13sINFOobjective_server_nodeinstance_id: "" ×16 + 0.13sINFOobjective_server_node ×16 + 0.18sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	6 errors · 21 warnings · 593 info
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 0.00sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 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: "" ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 0.02sINFOobjective_server_nodeobjective_name: "" ×6 + 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>" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×20 + 0.02sINFOobjective_server_nodecaller: ×20 + 0.02sINFOobjective_server_nodetype: 0 ×20 + 0.02sINFOobjective_server_nodename: "" ×20 + 0.02sINFOobjective_server_nodeinstance_id: "" ×20 + 0.02sINFOobjective_server_node ×34 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.14sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.15sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control></Control></BehaviorTree></root>" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.67sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.67sINFOobjective_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 + 0.67sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.67sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.67sINFOobjective_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 + 0.68sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.68sINFOobjective_server_node</Control> ×8 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.68sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.68sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.68sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 0.99sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 1.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.59sINFOmove_groupClearing octomap...[0m ×4 + 1.59sINFOmove_groupOctomap cleared.[0m ×4 + 1.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.15sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_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 + 5.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.68sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.09sINFOjoint_trajectory_controllerReceived new action goal + 7.09sINFOjoint_trajectory_controllerAccepted new action goal + 7.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	6 errors · 21 warnings · 821 info
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×24 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×24 + 0.00sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×12 + 0.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×24 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×21 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×42 + 0.01sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×12 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.01sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×24 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×11 + 0.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×22 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.06sINFOobjective_server_nodeobjective_name: "" ×12 + 1.06sINFOobjective_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 + 1.06sINFOobjective_server_node ×66 + 1.06sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.06sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.06sINFOobjective_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 + 1.06sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.06sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×24 + 1.07sINFOobjective_server_nodecaller: ×24 + 1.07sINFOobjective_server_nodetype: 0 ×24 + 1.07sINFOobjective_server_nodename: "" ×24 + 1.07sINFOobjective_server_nodeinstance_id: "" ×24 + 1.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 1.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 1.25sINFOobjective_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 + 1.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 1.91sINFOobjective_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=\"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: "" + 1.91sINFOobjective_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 + 1.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 2.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 2.03sINFOobjective_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 + 2.09sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 2.70sINFOobjective_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=\"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: "" + 2.71sINFOobjective_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 + 2.75sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.62sINFOmove_groupClearing octomap...[0m ×4 + 3.62sINFOmove_groupOctomap cleared.[0m ×4 + 3.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 7.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.10sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 7.10sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 7.10sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 7.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3
− skipped	—	addtovector.xml	0.0s	6 errors · 18 warnings · 732 info
+ 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.00sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×19 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×38 + 0.01sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.01sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×9 + 0.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×18 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633617 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.06sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.06sINFOobjective_server_nodeobjective_name: "" ×12 + 1.06sINFOobjective_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 + 1.06sINFOobjective_server_node ×64 + 1.06sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.06sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.06sINFOobjective_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 + 1.06sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.06sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.07sINFOobjective_server_node</Control> ×24 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.07sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.07sINFOobjective_server_nodecaller: ×22 + 1.07sINFOobjective_server_nodetype: 0 ×22 + 1.07sINFOobjective_server_nodename: "" ×22 + 1.07sINFOobjective_server_nodeinstance_id: "" ×22 + 1.11sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.22751760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.30776405 seconds ×3 + 1.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 1.25sINFOobjective_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 + 1.28sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 1.91sINFOobjective_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=\"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: "" + 1.91sINFOobjective_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 + 1.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 2.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 2.03sINFOobjective_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 + 2.09sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 2.70sINFOobjective_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=\"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: "" + 2.71sINFOobjective_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 + 2.75sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupClearing octomap...[0m ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.18sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 6.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.63sINFOobjective_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: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 0.75sINFOobjective_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 + 0.76sINFOobjective_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: "" ×2 + 0.77sINFOobjective_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 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.63sINFOobjective_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: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 0.75sINFOobjective_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 + 0.76sINFOobjective_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: "" ×2 + 0.77sINFOobjective_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 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	6 errors · 21 warnings · 705 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753354.40569925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753354.48584342 seconds ×3 + 0.09sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.09sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.11sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×10 + 0.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×20 + 0.63sINFOobjective_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: "" + 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 0.63sINFOobjective_server_nodeobjective_name: "" ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node ×50 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.63sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.63sINFOobjective_server_node</Control> ×16 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.63sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.63sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.63sINFOobjective_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 + 0.63sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×22 + 0.63sINFOobjective_server_nodecaller: ×22 + 0.63sINFOobjective_server_nodetype: 0 ×22 + 0.63sINFOobjective_server_nodename: "" ×22 + 0.63sINFOobjective_server_nodeinstance_id: "" ×22 + 0.67sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.07241273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.342142 ms (missed cycles : 4).[0m ×2 + 0.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.15259242 seconds ×3 + 0.75sINFOobjective_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 + 0.76sINFOobjective_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: "" ×2 + 0.77sINFOobjective_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 + 0.81sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.21142292 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753355.27156806 seconds ×3 + 1.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "" objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> <Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> <Control ID=\"Sequence\"> <Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> <Action ID=\"AlwaysFailure\" /> </Control> </Control> <Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> <Action ID=\"Script\" code=\"picked_box := true\" /> </Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> <Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> <Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> <Control ID=\"Fallback\"> <Control ID=\"Sequence\"> <Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: "" + 1.42sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 1.47sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 1.64sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 2.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.29sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.33sINFOmove_groupClearing octomap...[0m ×4 + 2.33sINFOmove_groupOctomap cleared.[0m ×4 + 2.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 5.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	3 errors · 21 warnings · 453 info
+ 0.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753355.87119651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753355.97138333 seconds ×3 + 0.12sINFOobjective_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=\"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: "" + 0.12sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 0.13sINFOobjective_server_nodeobjective_name: "" ×2 + 0.13sINFOobjective_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 + 0.13sINFOobjective_server_nodeparameter_overrides: [] ×16 + 0.13sINFOobjective_server_nodecaller: ×16 + 0.13sINFOobjective_server_nodetype: 0 ×16 + 0.13sINFOobjective_server_nodename: "" ×16 + 0.13sINFOobjective_server_nodeinstance_id: "" ×16 + 0.13sINFOobjective_server_node ×16 + 0.18sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753356.04887629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914161 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753356.13903809 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.28sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.31sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×8 + 0.31sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×16 + 0.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.82sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.87sINFOmove_groupClearing octomap...[0m ×4 + 0.87sINFOmove_groupOctomap cleared.[0m ×4 + 0.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2

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

15 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	plan_path_with_mtc.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 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	0.7s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2

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

8 skip

− skipped	—	calibrate_camera_intrinsics.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 400 info
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753356.73493910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.05sINFOmove_groupClearing octomap...[0m ×4 + 0.05sINFOmove_groupOctomap cleared.[0m ×4 + 0.06sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.06sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753356.75508213 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_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 ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×14 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721019 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Close Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753357.34008479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753357.40024519 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Open Gripper" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753358.09598541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753358.15613365 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210228 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753358.84940767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753358.85958290 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797662 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753359.44224429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753359.59280586 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753360.20975804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604530 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753360.28993034 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.14sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753360.87936187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907311 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.55sINFOjoint_trajectory_controllerReceived new action goal + 5.55sINFOjoint_trajectory_controllerAccepted new action goal + 5.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373221 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550286 ms (missed cycles : 2).[0m ×2