90
Total objective tests
24
Objectives passed
0
Objectives failed
66
Objectives skipped
17.1s
Avg test time
100%
Objective pass rate
▾
(no parent)5 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 23.6s | 6 errors · 321 warnings · 1786 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/2026-11-04-00-55-43-019854-7e7889d697f3-8017 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.31sINFOstatic_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' + 4.32sINFOstatic_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' + 4.34sINFOstatic_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' + 4.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.39sINFOcontroller_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. + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.44sINFOmap_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. + 4.44sINFOmap_serverCreating + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.44sINFOcontroller_serverCreating controller server + 4.46sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.47sINFOlocal_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. + 4.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.47sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.47sINFOlocal_costmap.local_costmapCreating Costmap + 4.49sINFOlaunch_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 + 4.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.50sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.50sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 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. + 4.53sINFOsmoother_serverCreating smoother server + 4.54sINFOlifecycle_manager_localizationCreating + 4.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.55sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.55sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.55sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.55sINFOmap_serverConfiguring + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.59sINFOplanner_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. + 4.62sINFOplanner_serverCreating + 4.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.64sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.64sINFOamclConfiguring + 4.64sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.64sINFOmap_serverActivating + 4.65sINFOglobal_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. + 4.65sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.65sINFOglobal_costmap.global_costmapCreating Costmap + 4.66sINFOros2_control_node-13process started with pid [8182] ×2 + 4.66sINFOmove_group-25process started with pid [8242] ×2 + 4.66sINFOparameter_manager_node-26process started with pid [8243] ×2 + 4.66sINFOwaypoint_manager_node-27process started with pid [8245] ×2 + 4.66sINFOmove_joint_resampler_node-28process started with pid [8249] ×2 + 4.66sINFOmove_end_effector_resampler_node-29process started with pid [8250] ×2 + 4.66sINFOobjective_server_node_main-30process started with pid [8251] ×2 + 4.66sINFOcomponent_container_mt-31process started with pid [8252] ×2 + 4.66sINFOcomponent_container_mt-32process started with pid [8253] ×2 + 4.66sINFOexecute_objective_bridge-33process started with pid [8255] ×2 + 4.66sINFOui_teleop_bridge-34process started with pid [8256] ×2 + 4.66sINFOweb_bridge-35process started with pid [8257] ×2 + 4.66sINFOtf_visualization_relay-36process started with pid [8260] ×2 + 4.66sINFOjoint_state_visualization_relay-37process started with pid [8261] ×2 + 4.66sINFOtf2_web_republisher_node-38process started with pid [8262] ×2 + 4.66sINFOvideo_server-39process started with pid [8270] ×2 + 4.66sINFOweb_bridge_auth_proxy-40process started with pid [8277] ×2 + 4.66sINFOweb_video_auth_proxy-41process started with pid [8280] ×2 + 4.66sINFOcomponent_container_isolated-1process started with pid [8067] ×2 + 4.66sINFOcomponent_container_isolated-2process started with pid [8068] ×2 + 4.66sINFOstatic_transform_publisher-3process started with pid [8069] ×2 + 4.66sINFOodom_world_drift-4process started with pid [8070] ×2 + 4.66sINFOlidar_flattener.py-5process started with pid [8071] ×2 + 4.66sINFOstatic_transform_publisher-6process started with pid [8072] ×2 + 4.66sINFOstatic_transform_publisher-7process started with pid [8073] ×2 + 4.66sINFOscan_to_scan_filter_chain-8process started with pid [8074] ×2 + 4.66sINFOscan_to_scan_filter_chain-9process started with pid [8075] ×2 + 4.66sINFOrelay-10process started with pid [8179] ×2 + 4.66sINFOrelay-11process started with pid [8180] ×2 + 4.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.67sINFOstate_estimatorReceived a set_pose request (stamp: 1793753749492361299, x: 0, y: 0, z: 0, roll: 0, pitch: 0, yaw: 0) + 4.69sINFOcontroller_managerupdate rate is 600 Hz + 4.69sINFOcontroller_managerOverruns handling is : enabled + 4.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.69sWARNcontroller_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. + 4.69sINFOfixed_lag_smoother_node-12process started with pid [8181] ×2 + 4.69sINFOros2-14process started with pid [8183] ×2 + 4.69sINFOros2-15process started with pid [8184] ×2 + 4.69sINFOros2-16process started with pid [8185] ×2 + 4.69sINFOros2-17process started with pid [8186] ×2 + 4.69sINFOros2-18process started with pid [8187] ×2 + 4.69sINFOros2-19process started with pid [8188] ×2 + 4.69sINFOros2-20process started with pid [8189] ×2 + 4.69sINFOros2-21process started with pid [8190] ×2 + 4.69sINFOros2-22process started with pid [8191] ×2 + 4.69sINFOros2-23process started with pid [8192] ×2 + 4.69sINFOros2-24process started with pid [8193] ×2 + 4.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126723 ms (missed cycles : 4). + 4.73sINFObehavior_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. + 4.76sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 4.76sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 4.76sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×2 + 4.76sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×2 + 4.76sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.76sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.76sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.76sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.76sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.76sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.76sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.76sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.76sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.76sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.76sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.76sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.76sWARNros2_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 + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126723 ms (missed cycles : 4).[0m ×2 + 4.76sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.76sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.76sINFOamclActivating + 4.76sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.76sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.77sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.77sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.78sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.80sINFOamclSubscribed to map_topic: /map + 4.81sINFOamclSubscribed to scan_topic: /scan_interleaved + 4.81sINFOamclCreated reinitialize_global_localization service + 4.81sINFOamclCreated request_nomotion_update service + 4.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.82sINFOamclA new map was received + 4.82sINFOamclInitializing particle filter instance + 4.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.86sINFObt_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. + 4.88sINFObt_navigatorCreating + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.94sINFOwaypoint_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. + 4.95sINFOwaypoint_followerCreating + 4.96sINFOrobot_state_publisherRobot initialized + 4.97sINFOcontroller_managerReceived robot description from topic. + 4.97sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.97sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.97sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.97sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.01sINFOvelocity_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. + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.06sINFOlifecycle_manager_navigationCreating + 5.08sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.09sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.09sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.12sINFOvideo_server2026/11/04 00:55:49 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.12sINFOvideo_server2026/11/04 00:55:49 INF configuration loaded from /tmp/moveit-webrtc-os8rbag0/mediamtx.yml ×2 + 5.13sINFOvideo_server2026/11/04 00:55:49 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.13sINFOvideo_server2026/11/04 00:55:49 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.13sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.13sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.13sINFOcontroller_serverConfiguring controller interface + 5.13sINFOcontroller_servergetting progress checker plugins.. + 5.13sINFOcontroller_servergetting goal checker plugins.. + 5.13sINFOcontroller_serverController frequency set to 20.0000Hz + 5.13sINFOlocal_costmap.local_costmapConfiguring + 5.19sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.21sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.21sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.21sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.21sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.22sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.22sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.26sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.26sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.27sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.32sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.33sWARNlaser_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. + 5.33sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.33sWARNlaser_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. + 5.34sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.34sWARNscan_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 + 5.34sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.35sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.38sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.39sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.40sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.41sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.41sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.41sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.41sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.42sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.42sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.43sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.43sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.44sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.44sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.45sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.46sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.46sINFOcontroller_serverOptimizer reset ×2 + 5.49sINFOcontroller_serverController Server has FollowPath controllers available. + 5.51sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.51sINFOsmoother_serverConfiguring smoother server + 5.52sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.54sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.55sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.55sINFOplanner_serverConfiguring + 5.55sINFOglobal_costmap.global_costmapConfiguring + 5.58sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.58sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.59sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.59sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.59sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.62sINFOweb_video_auth_proxy2026-11-04 00:55:50,438 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 5.63sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.63sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.63sINFOweb_video_auth_proxy2026-11-04 00:55:50,446 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 5.63sINFOweb_bridge_auth_proxy2026-11-04 00:55:50,450 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 5.63sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.65sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.562615 seconds + 5.66sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.66sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.66sINFOmove_groupLoaded robot model in 0.562615 seconds[0m ×2 + 5.66sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.66sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.69sINFOamclParticle filter initialization completed + 5.69sINFOamclInitializing particles from estimated pose and covariance + 5.69sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.70sINFOglobal_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 + 5.71sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.72sINFOplanner_serverPlanner Server has GridBased planners available. + 5.76sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.76sINFObehavior_serverConfiguring + 5.77sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.77sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.77sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.77sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.77sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.78sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.78sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.79sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.79sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.81sINFObehavior_serverConfiguring spin + 5.82sINFObehavior_serverConfiguring backup + 5.83sINFObehavior_serverConfiguring drive_on_heading + 5.84sINFObehavior_serverConfiguring assisted_teleop + 5.85sINFObehavior_serverConfiguring wait + 5.87sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.87sINFObt_navigatorConfiguring + 5.89sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.91sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.96sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893186 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893186 ms (missed cycles : 2).[0m ×2 + 6.16sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.24sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.24sINFOwaypoint_followerConfiguring + 6.27sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.27sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.27sINFOvelocity_smootherConfiguring velocity smoother + 6.28sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.28sINFOcontroller_serverActivating + 6.28sINFOlocal_costmap.local_costmapActivating + 6.28sINFOlocal_costmap.local_costmapChecking transform + 6.28sINFOlocal_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 ×5 + 6.29sWARNmove_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. + 6.29sWARNmove_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. + 6.29sWARNmove_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. + 6.29sWARNmove_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. + 6.29sWARNmove_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. + 6.29sWARNmove_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. + 6.29sWARNmove_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 + 6.29sWARNmove_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 + 6.29sWARNmove_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 + 6.29sWARNmove_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 + 6.29sWARNmove_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 + 6.29sWARNmove_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 + 6.29sWARNmove_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. + 6.29sWARNmove_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 + 6.29sWARNmove_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. + 6.29sWARNmove_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 + 6.29sWARNmove_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. + 6.29sWARNmove_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. + 6.29sWARNmove_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 + 6.29sWARNmove_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 + 6.49sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.49sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.49sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.49sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.52sINFOros2_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 + 6.52sINFOros2_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 + 6.60sINFOmove_group[2026-11-04 00:55:51.419] [moveit_pro_license] [info] ×2 + 6.60sINFOmove_group************************************************* ×4 + 6.60sINFOmove_group* MoveIt Pro License ×2 + 6.60sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.79sINFOwaypoint_manager_nodeLoaded robot model in 0.411235 seconds[0m ×2 + 6.80sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.80sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.05sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.05sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.05sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.05sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.05sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.05sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.06sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.06sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.06sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.06sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.06sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.06sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.06sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.06sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.07sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150837 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150837 ms (missed cycles : 2).[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.39sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.39sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.39sINFOros2_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 + 7.40sWARNros2_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 + 7.40sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.40sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.40sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.40sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.40sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.40sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.40sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.40sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.40sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.40sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.40sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.40sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.40sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.40sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.40sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.40sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.40sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.40sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×2 + 7.40sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.40sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.40sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.40sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.40sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.40sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.40sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.40sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.44sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap. + 7.44sWARNodom_world_driftno truth sample bracketing the estimate's stamp -- withholding odom->world rather than differencing across a timing gap.[0m ×2 + 7.46sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.46sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.46sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.46sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.46sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 7.46sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 7.48sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.49sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.49sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.49sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.49sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.49sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.49sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.49sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 7.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 7.50sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.50sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.55sINFOwaypoint_manager_node[2026-11-04 00:55:52.369] [moveit_pro_license] [info] ×2 + 7.55sINFOwaypoint_manager_node************************************************* ×4 + 7.55sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.55sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.60sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 7.60sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 7.64sINFOros2_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 + 7.64sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.64sWARNros2_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 + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 7.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 7.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.86sINFOros2-18process has finished cleanly [pid 8187] ×2 + 7.90sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.90sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.95sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.96sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.97sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.98sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.01sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.01sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.02sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.02sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.02sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved' + 8.02sINFOcomponent_container_mtDiscovered sensor source '/scan_interleaved' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_interleaved'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.02sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.02sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.02sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.03sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.03sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.03sINFOstreaming_point_cloud_publisher_nodeStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz). + 8.03sINFOstreaming_point_cloud_publisher_nodeReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz). + 8.03sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.03sINFOcomponent_container_mtStreaming sensor sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' in frame 'world' (0.0010 m resolution, max 30.0 Hz).[0m ×2 + 8.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.03sINFOcomponent_container_mtReduced point clouds -> '/moveit_pro_ui/streaming_point_cloud_reduced/<source>' (0.0100 m voxels, max 5.0 Hz).[0m ×2 + 8.03sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.05sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.07sWARNcomponent_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 + 8.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 8.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 8.22sINFOobjective_server_node[2026-11-04 00:55:53.038] [moveit_pro_license] [info] ×2 + 8.22sINFOobjective_server_node************************************************* ×4 + 8.22sINFOobjective_server_node* MoveIt Pro License ×2 + 8.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.26sINFOros2-16process has finished cleanly [pid 8185] ×2 + 8.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.29sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914534 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914534 ms (missed cycles : 2).[0m ×2 + 8.31sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.31sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.32sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.32sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.32sINFOobjective_server_nodeLoaded robot model in 0.0435971 seconds[0m ×2 + 8.32sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.33sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.33sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.33sINFOplatform_velocity_controllerconfigure successful + 8.33sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.33sINFOros2_control_nodeconfigure successful[0m ×6 + 8.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.33sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.34sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.34sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.44sINFOcomponent_container_mtLoaded robot model in 0.37288 seconds[0m ×2 + 8.44sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.44sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.60sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.60sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.74sINFOros2-17process has finished cleanly [pid 8186] ×2 + 8.78sINFOlocal_costmap.local_costmapstart + 8.84sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 8.84sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 8.87sWARNobjective_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. + 8.87sWARNobjective_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 + 8.87sWARNobjective_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. + 8.88sWARNobjective_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 + 8.88sWARNobjective_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. + 8.88sWARNobjective_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. + 8.88sWARNobjective_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 + 8.88sWARNobjective_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 + 8.88sWARNobjective_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. + 8.88sWARNobjective_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. + 8.88sWARNobjective_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 + 8.88sWARNobjective_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 + 8.88sWARNobjective_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. + 8.88sWARNobjective_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. + 8.88sWARNobjective_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 + 8.88sWARNobjective_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 + 8.88sWARNobjective_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. + 8.88sWARNobjective_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. + 8.88sWARNobjective_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 + 8.88sWARNcontroller_serverParameter controller_server.verbose not found + 8.88sWARNobjective_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 + 8.88sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.92sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.92sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.92sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.92sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.94sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.96sINFOobjective_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 + 8.96sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.98sWARNplanning_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. + 8.98sWARNcomponent_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 + 8.98sWARNplanning_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. + 8.98sWARNcomponent_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 + 8.98sWARNplanning_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. + 8.98sWARNcomponent_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 + 8.98sWARNplanning_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. + 8.98sWARNcomponent_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 + 8.99sWARNplanning_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. + 8.99sWARNcomponent_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 + 8.99sWARNplanning_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. + 8.99sWARNcomponent_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 + 8.99sWARNplanning_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. + 8.99sWARNplanning_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. + 8.99sWARNcomponent_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 + 8.99sWARNcomponent_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 + 8.99sWARNplanning_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. + 8.99sWARNplanning_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. + 8.99sWARNcomponent_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 + 8.99sWARNcomponent_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 + 8.99sWARNplanning_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. + 8.99sWARNplanning_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. + 8.99sWARNcomponent_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 + 8.99sWARNcomponent_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 + 8.99sWARNplanning_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. + 8.99sWARNplanning_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. + 8.99sWARNplanning_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. + 8.99sWARNplanning_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. + 9.00sWARNcomponent_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 + 9.00sWARNplanning_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. + 9.00sWARNplanning_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. + 9.00sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.00sWARNplanning_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. + 9.00sWARNplanning_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. + 9.00sWARNcomponent_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 + 9.00sWARNcomponent_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 + 9.00sWARNcomponent_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 + 9.00sWARNcomponent_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 + 9.00sWARNcomponent_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 + 9.00sWARNplanning_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. + 9.00sWARNcomponent_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 + 9.00sWARNplanning_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. + 9.00sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 9.00sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 9.00sWARNcomponent_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 + 9.00sINFOsmoother_serverActivating + 9.00sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 9.00sWARNcomponent_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 + 9.00sWARNplanning_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. + 9.00sWARNplanning_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. + 9.00sWARNcomponent_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 + 9.00sWARNcomponent_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 + 9.00sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.01sWARNplanning_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. + 9.01sWARNcomponent_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 + 9.11sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 9.11sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 9.11sINFOplanner_serverActivating + 9.11sINFOglobal_costmap.global_costmapActivating + 9.11sINFOglobal_costmap.global_costmapChecking transform + 9.11sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 9.21sINFOcomponent_container_mt[2026-11-04 00:55:54.030] [moveit_pro_license] [info] ×2 + 9.21sINFOcomponent_container_mt************************************************* ×4 + 9.21sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.21sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.22sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.22sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.29sINFOmove_groupMoveGroup debug mode is ON + 9.30sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.30sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110520 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110520 ms (missed cycles : 2).[0m ×2 + 9.35sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.35sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.36sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.36sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.36sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.37sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.42sINFOros2_control_node[2026-11-04 00:55:54.239] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.42sINFOros2_control_node[2026-11-04 00:55:54.242] [info] Controller state will be published at 10 Hz. ×2 + 9.42sINFOros2_control_node[2026-11-04 00:55:54.244] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.49sINFOmove_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
********************************************************
+ 9.49sINFOmove_group ×8 + 9.49sINFOmove_group******************************************************** ×4 + 9.49sINFOmove_group* MoveGroup using: ×2 + 9.49sINFOmove_group* - apply_planning_scene_service ×2 + 9.49sINFOmove_group* - clear_octomap_service ×2 + 9.49sINFOmove_group* - get_group_urdf ×2 + 9.49sINFOmove_group* - load_geometry_from_file ×2 + 9.49sINFOmove_group* - get_planning_scene_service ×2 + 9.49sINFOmove_group* - kinematics_service ×2 + 9.49sINFOmove_group* - save_geometry_to_file ×2 + 9.49sINFOmove_group* - GetPlanningGroups ×2 + 9.49sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.49sINFOmove_group[0m ×2 + 9.49sINFOmove_group[92mYou can start planning now![0m ×2 + 9.59sWARNros2_control_nodeCamera render tick took 1.02 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 + 9.59sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.59sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.60sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.60sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.61sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.61sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 1904 particles 811 points - 25.728ms + 9.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 9.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 9.78sINFOros2-22process has finished cleanly [pid 8191] ×2 + 9.81sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.82sINFOforce_torque_sensor_broadcasterconfigure successful + 9.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.83sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.11sINFOglobal_costmap.global_costmapstart + 10.15sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.15sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.15sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.16sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.20sINFOros2-14process has finished cleanly [pid 8183] ×2 + 10.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 10.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 10.31sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.31sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573024 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573024 ms (missed cycles : 3).[0m ×2 + 10.85sINFOros2_control_node[2026-11-04 00:55:55.668] [info] Controller state will be published at 20 Hz. ×2 + 10.85sINFOros2_control_node[2026-11-04 00:55:55.669] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.16sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 11.16sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 11.21sINFOros2-24process has finished cleanly [pid 8193] ×2 + 11.23sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.23sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 11.23sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.23sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 11.27sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 11.27sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 11.27sINFObehavior_serverActivating + 11.27sINFObehavior_serverActivating spin + 11.27sINFObehavior_serverActivating backup + 11.27sINFObehavior_serverActivating drive_on_heading + 11.27sINFObehavior_serverActivating assisted_teleop + 11.27sINFObehavior_serverActivating wait + 11.27sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.29sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.30sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.39sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.39sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.39sINFObt_navigatorActivating + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431686 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431686 ms (missed cycles : 2).[0m ×2 + 11.47sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.57sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.57sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.57sINFOwaypoint_followerActivating + 11.57sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.69sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.69sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.69sINFOvelocity_smootherActivating + 11.69sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.79sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.79sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.79sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.81sINFOros2_control_node[2026-11-04 00:55:56.630] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.81sINFOros2_control_node[2026-11-04 00:55:56.633] [info] Controller state will be published at 10 Hz. ×2 + 11.81sINFOros2_control_node[2026-11-04 00:55:56.634] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.14sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.14sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.14sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.14sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.15sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 12.15sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 12.19sINFOros2-21process has finished cleanly [pid 8190] ×2 + 12.21sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.21sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.21sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.21sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.22sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.22sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.22sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.22sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380954 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380954 ms (missed cycles : 2).[0m ×2 + 12.53sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.53sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.53sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 12.53sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 12.57sINFOros2-15process has finished cleanly [pid 8184] ×2 + 12.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.10sINFOros2_control_node[2026-11-04 00:55:57.918] [info] Controller state will be published at 20 Hz. ×2 + 13.10sINFOros2_control_node[2026-11-04 00:55:57.919] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 13.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 13.47sINFOros2-23process has finished cleanly [pid 8192] ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072712 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072712 ms (missed cycles : 2).[0m ×2 + 13.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.55sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.55sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.55sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.56sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.88sINFOros2-20process has finished cleanly [pid 8189] ×2 + 13.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.90sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.91sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 + 13.91sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fqg8o6qe --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_v3j8xmvs --params-file /tmp/launch_params_xuwd0mr6 [0m ×2 + 13.97sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.97sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.97sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.97sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.97sINFOplatform_velocity_controller_nav2configure successful + 14.33sINFOros2-19process has finished cleanly [pid 8188] ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703465 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703465 ms (missed cycles : 2).[0m ×2 + 15.48sWARNobjective_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 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422024 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422024 ms (missed cycles : 4).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181540 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181540 ms (missed cycles : 2).[0m ×2 + 17.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 17.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 17.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 17.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 17.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 17.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 17.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 17.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 17.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362185 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362185 ms (missed cycles : 3).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708734 ms (missed cycles : 3). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708734 ms (missed cycles : 3).[0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332029 ms (missed cycles : 4). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332029 ms (missed cycles : 4).[0m ×2 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2).[0m ×2 + 22.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 22.90sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 22.90sINFOobjective_server_nodeobjective_name: "" ×12 + 22.90sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 22.90sINFOobjective_server_node ×56 + 22.90sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.90sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 22.90sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 22.90sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 22.90sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 22.90sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 22.90sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 22.90sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 22.90sINFOobjective_server_node</Control> ×24 + 22.90sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 22.90sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 22.90sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 22.90sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 22.90sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 22.90sINFOobjective_server_nodeparameter_overrides: [] ×14 + 22.90sINFOobjective_server_nodecaller: ×14 + 22.90sINFOobjective_server_nodetype: 0 ×14 + 22.90sINFOobjective_server_nodename: "" ×14 + 22.90sINFOobjective_server_nodeinstance_id: "" ×14 + 22.95sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 23.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[0m ×2 + 23.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 23.11sINFOobjective_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 + 23.15sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 23.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.80sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 23.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 23.92sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 23.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 24.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 24.61sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 24.65sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 24.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.91sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 25.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 25.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 25.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 25.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 25.50sINFOmove_groupClearing octomap...[0m ×2 + 25.50sINFOmove_groupOctomap cleared.[0m ×2 + 25.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 25.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 25.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 | ||||
| ✓ passed | — | placed | 0.9s | 6 errors · 21 warnings · 641 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332029 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332029 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4).[0m ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.90sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.90sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 1.90sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 1.90sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 2.97sINFOobjective_server_nodeobjective_name: "" ×12 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_node ×60 + 2.97sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.97sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 2.97sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 2.97sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 2.97sINFOobjective_server_node</Control> ×24 + 2.97sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 2.97sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 2.97sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 2.97sINFOobjective_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 + 2.97sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×18 + 2.97sINFOobjective_server_nodecaller: ×18 + 2.97sINFOobjective_server_nodetype: 0 ×18 + 2.97sINFOobjective_server_nodename: "" ×18 + 2.97sINFOobjective_server_nodeinstance_id: "" ×18 + 3.02sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 3.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 3.18sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 3.22sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 3.91sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 3.99sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 4.72sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 5.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.57sINFOmove_groupClearing octomap...[0m ×2 + 5.57sINFOmove_groupOctomap cleared.[0m ×2 + 5.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOvacuum_gripperReceived & accepted new action goal ×2 + 6.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 6.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 6.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 | ||||
| ✓ passed | — | release_fails | 0.9s | 6 errors · 21 warnings · 741 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.09sINFOobjective_server_nodeobjective_name: "" ×12 + 1.09sINFOobjective_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 + 1.09sINFOobjective_server_node ×64 + 1.09sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.09sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.09sINFOobjective_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 + 1.09sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.09sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 1.09sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.09sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.09sINFOobjective_server_node</Control> ×24 + 1.09sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.09sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.09sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.09sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 1.09sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×22 + 1.09sINFOobjective_server_nodecaller: ×22 + 1.09sINFOobjective_server_nodetype: 0 ×22 + 1.09sINFOobjective_server_nodename: "" ×22 + 1.09sINFOobjective_server_nodeinstance_id: "" ×22 + 1.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 1.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[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=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 1.29sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.34sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.02sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 2.10sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.16sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 2.84sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.05sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 6.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 | ||||
| ✓ passed | — | hover_fails | 0.8s | 6 errors · 21 warnings · 691 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4).[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.88sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.88sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
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: ""
+ 1.95sINFOobjective_server_nodeReceived /do_objective goal: ×20 + 1.95sINFOobjective_server_nodeobjective_name: "" ×12 + 1.95sINFOobjective_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 + 1.95sINFOobjective_server_node ×62 + 1.95sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.95sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.95sINFOobjective_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 + 1.95sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.95sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 1.95sINFOobjective_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 + 1.95sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 1.95sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 1.95sINFOobjective_server_node</Control> ×24 + 1.95sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 1.95sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 1.95sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.95sINFOobjective_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 + 1.95sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 1.95sINFOobjective_server_nodeparameter_overrides: [] ×20 + 1.95sINFOobjective_server_nodecaller: ×20 + 1.95sINFOobjective_server_nodetype: 0 ×20 + 1.95sINFOobjective_server_nodename: "" ×20 + 1.95sINFOobjective_server_nodeinstance_id: "" ×20 + 2.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 2.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 2.16sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 2.20sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.89sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 2.97sINFOobjective_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 + 3.03sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 3.70sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 4.51sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 4.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.55sINFOmove_groupClearing octomap...[0m ×2 + 4.55sINFOmove_groupOctomap cleared.[0m ×2 + 4.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 5.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOvacuum_gripperReceived & accepted new action goal ×2 + 5.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 | ||||
| ✓ passed | — | test_fuse_inputs_reach_a_reliable_subscriber | 0.5s | 6 errors · 24 warnings · 588 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708734 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708734 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332029 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332029 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911012 ms (missed cycles : 4).[0m ×2 + 2.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.95sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 2.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 2.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×16 + 4.04sINFOobjective_server_nodeobjective_name: "" ×12 + 4.04sINFOobjective_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 + 4.04sINFOobjective_server_node ×58 + 4.04sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 4.04sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 4.04sINFOobjective_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 + 4.04sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 4.04sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 4.04sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 4.04sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 4.04sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 4.04sINFOobjective_server_node</Control> ×24 + 4.04sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 4.04sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 4.04sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 4.04sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 4.04sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×16 + 4.04sINFOobjective_server_nodecaller: ×16 + 4.04sINFOobjective_server_nodetype: 0 ×16 + 4.04sINFOobjective_server_nodename: "" ×16 + 4.04sINFOobjective_server_nodeinstance_id: "" ×16 + 4.09sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 4.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
×3 + 4.25sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 4.93sINFOobjective_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=\"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: ""
+ 4.93sINFOobjective_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=\"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 + 4.97sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 5.05sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 5.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
+ 5.75sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 5.79sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 6.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.64sINFOmove_groupClearing octomap...[0m ×2 + 6.64sINFOmove_groupOctomap cleared.[0m ×2 + 6.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 7.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.21sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.25sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.26sINFOvacuum_gripperReceived & accepted new action goal + 7.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 7.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives15 pass27 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.6s | 3 errors · 240 warnings · 286 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.089ms + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.059ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865347 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865347 ms (missed cycles : 2).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.234ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896207 ms (missed cycles : 2). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896207 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.554ms + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357632 ms (missed cycles : 3). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357632 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOjoint_trajectory_controllerGot request to cancel goal + 3.05sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1793753986.32187772 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOstate_estimatorReceived a set_pose request (stamp: 1793753986349261384, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.83) is out of map bounds (-2.65, -2.20) to (2.33, 2.78). The costmap cannot raytrace for it. + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.85) is out of map bounds (-2.65, -2.20) to (2.33, 2.78). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.33sWARNlocal_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. ×2 + 3.52sINFOamclParticle filter update iteration stats: 4694 particles 811 points - 8.800ms + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793753986.94049072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725279 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725279 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786845 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786845 ms (missed cycles : 3).[0m ×2 + 5.19sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.19sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.19sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 5.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.820ms + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637654 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637654 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.29sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103301 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103301 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394932 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394932 ms (missed cycles : 3).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.527ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677453 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677453 ms (missed cycles : 3).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.145ms + 10.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.723ms + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810618 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810618 ms (missed cycles : 3).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.739ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432366 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432366 ms (missed cycles : 3).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.725ms + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.974ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828938 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828938 ms (missed cycles : 2).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.988ms + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583486 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583486 ms (missed cycles : 2).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.092ms + 14.32sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.779ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076306 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076306 ms (missed cycles : 2).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.354ms + 15.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.664ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884643 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884643 ms (missed cycles : 2).[0m ×2 + 16.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.543ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995162 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995162 ms (missed cycles : 2).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.666ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.057ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200371 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200371 ms (missed cycles : 2).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.476ms + 19.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920656 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920656 ms (missed cycles : 2).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.426ms + 20.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.730ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295277 ms (missed cycles : 4). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295277 ms (missed cycles : 4).[0m ×2 + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.598ms + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625291 ms (missed cycles : 4). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625291 ms (missed cycles : 4).[0m ×2 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.326ms + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.246ms + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225321 ms (missed cycles : 5). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225321 ms (missed cycles : 5).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.514ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727784 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727784 ms (missed cycles : 2).[0m ×2 + 23.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms + 24.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.231ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067002 ms (missed cycles : 3). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067002 ms (missed cycles : 3).[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.461ms + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661923 ms (missed cycles : 3). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661923 ms (missed cycles : 3).[0m ×2 + 25.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.400ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880752 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880752 ms (missed cycles : 2).[0m ×2 + 26.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.271ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.505ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.298377 ms (missed cycles : 6). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.298377 ms (missed cycles : 6).[0m ×2 + 28.07sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 11.262ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862689 ms (missed cycles : 4). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862689 ms (missed cycles : 4).[0m ×2 + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.510ms + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.279ms + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551222 ms (missed cycles : 6). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.551222 ms (missed cycles : 6).[0m ×2 + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.759ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788503 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788503 ms (missed cycles : 2).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.506ms + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.135ms + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533605 ms (missed cycles : 2). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533605 ms (missed cycles : 2).[0m ×2 + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.510ms + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.963ms + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391600 ms (missed cycles : 2). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391600 ms (missed cycles : 2).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.841ms + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825442 ms (missed cycles : 3). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825442 ms (missed cycles : 3).[0m ×2 + 34.67sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.67sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199546 ms (missed cycles : 2). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199546 ms (missed cycles : 2).[0m ×2 + 35.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471419 ms (missed cycles : 2). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471419 ms (missed cycles : 2).[0m ×2 + 36.33sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546806 ms (missed cycles : 2). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546806 ms (missed cycles : 2).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914279 ms (missed cycles : 3). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914279 ms (missed cycles : 3).[0m ×2 + 38.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.382ms + 39.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.988ms + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209811 ms (missed cycles : 2). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209811 ms (missed cycles : 2).[0m ×2 + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.312ms + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243725 ms (missed cycles : 3). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243725 ms (missed cycles : 3).[0m ×2 + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.487ms ×2 + 41.58sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.696ms + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337942 ms (missed cycles : 4). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337942 ms (missed cycles : 4).[0m ×2 + 42.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.937ms + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614417 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614417 ms (missed cycles : 2).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454942 ms (missed cycles : 5). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454942 ms (missed cycles : 5).[0m ×2 + 44.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.712ms + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593333 ms (missed cycles : 4). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593333 ms (missed cycles : 4).[0m ×2 + 45.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.837ms + 46.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565981 ms (missed cycles : 3). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565981 ms (missed cycles : 3).[0m ×2 + 46.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.197ms + 46.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.050ms + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414559 ms (missed cycles : 2). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414559 ms (missed cycles : 2).[0m ×2 + 47.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.423ms + 48.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193185 ms (missed cycles : 5). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193185 ms (missed cycles : 5).[0m ×2 + 48.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.990ms + 49.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.467ms + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211616 ms (missed cycles : 2). + 49.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211616 ms (missed cycles : 2).[0m ×2 + 50.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.200ms + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601566 ms (missed cycles : 4). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601566 ms (missed cycles : 4).[0m ×2 + 50.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.519ms + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847151 ms (missed cycles : 3). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847151 ms (missed cycles : 3).[0m ×2 + 51.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.927ms + 52.33sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 52.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040610 ms (missed cycles : 4). + 52.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040610 ms (missed cycles : 4).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737964 ms (missed cycles : 3). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737964 ms (missed cycles : 3).[0m ×2 + 54.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733545 ms (missed cycles : 2). + 54.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733545 ms (missed cycles : 2).[0m ×2 + 55.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745845 ms (missed cycles : 3). + 55.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745845 ms (missed cycles : 3).[0m ×2 + 56.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.863ms + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491464 ms (missed cycles : 3). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491464 ms (missed cycles : 3).[0m ×2 + 56.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.504ms + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085321 ms (missed cycles : 3). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085321 ms (missed cycles : 3).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.077ms + 58.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.881ms + 59.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263876 ms (missed cycles : 2). + 59.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263876 ms (missed cycles : 2).[0m ×2 + 59.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.146ms + 60.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853669 ms (missed cycles : 3). + 60.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853669 ms (missed cycles : 3).[0m ×2 + 60.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.372ms + 60.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms ×2 + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863676 ms (missed cycles : 3). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863676 ms (missed cycles : 3).[0m ×2 + 61.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.023ms + 61.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.735ms + 62.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040414 ms (missed cycles : 2). + 62.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040414 ms (missed cycles : 2).[0m ×2 + 62.94sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.131ms + 63.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020964 ms (missed cycles : 3). + 63.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020964 ms (missed cycles : 3).[0m ×2 + 64.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.071ms + 64.48sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 64.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742280 ms (missed cycles : 4). + 64.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742280 ms (missed cycles : 4).[0m ×2 + 65.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816220 ms (missed cycles : 3). + 65.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816220 ms (missed cycles : 3).[0m ×2 + 66.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940263 ms (missed cycles : 4). + 66.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940263 ms (missed cycles : 4).[0m ×2 + 67.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137319 ms (missed cycles : 2). + 67.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137319 ms (missed cycles : 2).[0m ×2 + 68.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.098ms + 68.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655900 ms (missed cycles : 6). + 68.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655900 ms (missed cycles : 6).[0m ×2 + 69.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.853ms + 69.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829807 ms (missed cycles : 2). + 69.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829807 ms (missed cycles : 2).[0m ×2 + 70.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.440ms + 70.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.740ms + 71.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014302 ms (missed cycles : 3). + 71.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014302 ms (missed cycles : 3).[0m ×2 + 71.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.301ms + 71.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.794ms + 72.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942196 ms (missed cycles : 2). + 72.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942196 ms (missed cycles : 2).[0m ×2 + 72.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.473ms + 72.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.364ms + 73.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669934 ms (missed cycles : 2). + 73.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669934 ms (missed cycles : 2).[0m ×2 + 73.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.876ms + 73.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.975ms + 74.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.357ms + 74.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621141 ms (missed cycles : 3). + 74.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621141 ms (missed cycles : 3).[0m ×2 + 74.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.743ms + 75.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944564 ms (missed cycles : 3). + 75.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944564 ms (missed cycles : 3).[0m ×2 + 76.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818244 ms (missed cycles : 4). + 76.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818244 ms (missed cycles : 4).[0m ×2 + 76.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.801ms + 76.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793754059.96071100 seconds ×3 + 76.72sINFOstate_estimatorReceived a set_pose request (stamp: 1793754059982680778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 76.93sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.93sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 77.03sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 77.03sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 77.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 77.24sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 77.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793754060.56028438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.34sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.681ms + 77.34sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 77.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690556 ms (missed cycles : 3). + 77.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690556 ms (missed cycles : 3).[0m ×2 + 77.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 34.005ms + 78.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911615 ms (missed cycles : 3). + 78.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911615 ms (missed cycles : 3).[0m ×2 + 79.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154743 ms (missed cycles : 3). + 79.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154743 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.5s | 193 warnings · 232 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.955ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.304ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320130 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320130 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.036ms + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.412ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569132 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569132 ms (missed cycles : 3).[0m ×2 + 2.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.370ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.996ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793753823.44634175 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOstate_estimatorReceived a set_pose request (stamp: 1793753823468166770, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133300 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133300 ms (missed cycles : 3).[0m ×2 + 3.44sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 5.551ms + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793753824.06071138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222466 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222466 ms (missed cycles : 4).[0m ×2 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 5.15sINFOamclInitializing particles from estimated pose and covariance ×2 + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566937, y=-0.0171808, yaw=-0.0183891 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.243ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047907 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047907 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142102 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142102 ms (missed cycles : 5).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668105 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668105 ms (missed cycles : 3).[0m ×2 + 8.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.468ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116888 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116888 ms (missed cycles : 3).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.618ms + 9.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.707ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132330 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132330 ms (missed cycles : 2).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.889ms ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194042 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194042 ms (missed cycles : 2).[0m ×2 + 10.97sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.385ms + 11.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.481ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977998 ms (missed cycles : 5). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977998 ms (missed cycles : 5).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.965ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212041 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212041 ms (missed cycles : 3).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.384ms + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.278ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173130 ms (missed cycles : 4). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173130 ms (missed cycles : 4).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.245ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007899 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007899 ms (missed cycles : 2).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.487ms + 15.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.209ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934228 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934228 ms (missed cycles : 2).[0m ×2 + 16.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.632ms + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453579 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453579 ms (missed cycles : 4).[0m ×2 + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.719ms + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976128 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976128 ms (missed cycles : 2).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.945ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380868 ms (missed cycles : 3). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380868 ms (missed cycles : 3).[0m ×2 + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.352ms + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.134ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987970 ms (missed cycles : 3). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987970 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.365ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535963 ms (missed cycles : 3). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535963 ms (missed cycles : 3).[0m ×2 + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.282ms + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.001ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211296 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211296 ms (missed cycles : 2).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.454ms + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888363 ms (missed cycles : 3). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888363 ms (missed cycles : 3).[0m ×2 + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.671ms + 23.93sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.814ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182912 ms (missed cycles : 2). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182912 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.206ms + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.171ms + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284667 ms (missed cycles : 4). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284667 ms (missed cycles : 4).[0m ×2 + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.835ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400837 ms (missed cycles : 4). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400837 ms (missed cycles : 4).[0m ×2 + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.869ms + 27.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.632ms + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460022 ms (missed cycles : 3). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460022 ms (missed cycles : 3).[0m ×2 + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.109ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188384 ms (missed cycles : 5). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.188384 ms (missed cycles : 5).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.117ms + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.497ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512529 ms (missed cycles : 6). + 29.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512529 ms (missed cycles : 6).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.411ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161782 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161782 ms (missed cycles : 2).[0m ×2 + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.875ms + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.470ms + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890417 ms (missed cycles : 3). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890417 ms (missed cycles : 3).[0m ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.896ms + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767442 ms (missed cycles : 3). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767442 ms (missed cycles : 3).[0m ×2 + 32.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.255ms + 33.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.402ms + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010241 ms (missed cycles : 4). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010241 ms (missed cycles : 4).[0m ×2 + 34.61sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.65sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799674 ms (missed cycles : 3). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799674 ms (missed cycles : 3).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748917 ms (missed cycles : 3). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748917 ms (missed cycles : 3).[0m ×2 + 35.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.492ms + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562440 ms (missed cycles : 4). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562440 ms (missed cycles : 4).[0m ×2 + 37.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.110ms + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368722 ms (missed cycles : 3). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368722 ms (missed cycles : 3).[0m ×2 + 38.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.747ms + 39.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133627 ms (missed cycles : 5). + 39.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133627 ms (missed cycles : 5).[0m ×2 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132482 ms (missed cycles : 3). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132482 ms (missed cycles : 3).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017429 ms (missed cycles : 2). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017429 ms (missed cycles : 2).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.978ms + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036596 ms (missed cycles : 3). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036596 ms (missed cycles : 3).[0m ×2 + 42.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.283ms + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676922 ms (missed cycles : 2). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676922 ms (missed cycles : 2).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948138 ms (missed cycles : 6). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948138 ms (missed cycles : 6).[0m ×2 + 44.76sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.616ms + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644665 ms (missed cycles : 4). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644665 ms (missed cycles : 4).[0m ×2 + 45.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.894ms + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940113 ms (missed cycles : 2). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940113 ms (missed cycles : 2).[0m ×2 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037374 ms (missed cycles : 5). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037374 ms (missed cycles : 5).[0m ×2 + 47.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.186ms + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786518 ms (missed cycles : 2). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786518 ms (missed cycles : 2).[0m ×2 + 48.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.704ms + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459086 ms (missed cycles : 4). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459086 ms (missed cycles : 4).[0m ×2 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598486 ms (missed cycles : 4). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598486 ms (missed cycles : 4).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221597 ms (missed cycles : 4). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221597 ms (missed cycles : 4).[0m ×2 + 51.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.309ms + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112213 ms (missed cycles : 2). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112213 ms (missed cycles : 2).[0m ×2 + 53.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954202 ms (missed cycles : 3). + 53.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954202 ms (missed cycles : 3).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134541 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134541 ms (missed cycles : 2).[0m ×2 + 55.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.244ms + 55.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928802 ms (missed cycles : 3). + 55.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928802 ms (missed cycles : 3).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629170 ms (missed cycles : 3). + 56.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629170 ms (missed cycles : 3).[0m ×2 + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 59.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 59.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 59.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 60.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 60.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 60.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 60.51sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 60.53sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.63sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.73sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 61.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.02sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 61.03sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 61.03sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 61.08sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 61.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 61.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 61.50sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 61.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.5s | 188 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.58sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.84sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.84sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769846 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769846 ms (missed cycles : 3).[0m ×2 + 7.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.548ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291138 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291138 ms (missed cycles : 2).[0m ×2 + 8.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.199ms + 9.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.916ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137228 ms (missed cycles : 4). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137228 ms (missed cycles : 4).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.214ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761592 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761592 ms (missed cycles : 3).[0m ×2 + 10.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.290ms + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.263ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808252 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808252 ms (missed cycles : 3).[0m ×2 + 12.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.645ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290399 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290399 ms (missed cycles : 4).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.381ms + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.145ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817062 ms (missed cycles : 4). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817062 ms (missed cycles : 4).[0m ×2 + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.687ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.380ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722388 ms (missed cycles : 4). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722388 ms (missed cycles : 4).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.386ms + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638139 ms (missed cycles : 4). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.638139 ms (missed cycles : 4).[0m ×2 + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.851ms + 17.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.598ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740821 ms (missed cycles : 4). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740821 ms (missed cycles : 4).[0m ×2 + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.778ms + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708127 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708127 ms (missed cycles : 2).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.287ms + 19.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.921ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131710 ms (missed cycles : 3). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131710 ms (missed cycles : 3).[0m ×2 + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.639ms + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287262 ms (missed cycles : 3). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287262 ms (missed cycles : 3).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.728ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144505 ms (missed cycles : 4). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144505 ms (missed cycles : 4).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.510ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.587ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277862 ms (missed cycles : 4). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277862 ms (missed cycles : 4).[0m ×2 + 23.06sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.333ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301699 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301699 ms (missed cycles : 2).[0m ×2 + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.197ms + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.058ms + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035302 ms (missed cycles : 2). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035302 ms (missed cycles : 2).[0m ×2 + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.698ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946282 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946282 ms (missed cycles : 2).[0m ×2 + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.447ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.850ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910514 ms (missed cycles : 2). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910514 ms (missed cycles : 2).[0m ×2 + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.421ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561471 ms (missed cycles : 3). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561471 ms (missed cycles : 3).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.758ms + 28.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063641 ms (missed cycles : 3). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063641 ms (missed cycles : 3).[0m ×2 + 28.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.554ms + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.982ms + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777074 ms (missed cycles : 3). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777074 ms (missed cycles : 3).[0m ×2 + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.515ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006584 ms (missed cycles : 3). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006584 ms (missed cycles : 3).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.542ms + 31.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.161ms + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855235 ms (missed cycles : 3). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855235 ms (missed cycles : 3).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.802ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595440 ms (missed cycles : 4). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595440 ms (missed cycles : 4).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.845ms + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701581 ms (missed cycles : 3). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701581 ms (missed cycles : 3).[0m ×2 + 34.25sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 18 coverage poses over the region's +Z face. ×3 + 34.30sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.070ms + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203965 ms (missed cycles : 3). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203965 ms (missed cycles : 3).[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940627 ms (missed cycles : 3). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940627 ms (missed cycles : 3).[0m ×2 + 37.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 10.333ms + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757591 ms (missed cycles : 3). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757591 ms (missed cycles : 3).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729408 ms (missed cycles : 3). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729408 ms (missed cycles : 3).[0m ×2 + 38.43sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.333ms + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024636 ms (missed cycles : 3). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024636 ms (missed cycles : 3).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536678 ms (missed cycles : 2). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536678 ms (missed cycles : 2).[0m ×2 + 41.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.653ms + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753363 ms (missed cycles : 3). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753363 ms (missed cycles : 3).[0m ×2 + 42.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.731ms + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196173 ms (missed cycles : 2). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196173 ms (missed cycles : 2).[0m ×2 + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679160 ms (missed cycles : 6). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679160 ms (missed cycles : 6).[0m ×2 + 44.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.910ms + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569847 ms (missed cycles : 3). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569847 ms (missed cycles : 3).[0m ×2 + 45.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.044ms + 45.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906819 ms (missed cycles : 3). + 45.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906819 ms (missed cycles : 3).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747496 ms (missed cycles : 2). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747496 ms (missed cycles : 2).[0m ×2 + 47.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.774ms + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093377 ms (missed cycles : 2). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093377 ms (missed cycles : 2).[0m ×2 + 48.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.221ms + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966398 ms (missed cycles : 2). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966398 ms (missed cycles : 2).[0m ×2 + 50.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792195 ms (missed cycles : 2). + 50.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792195 ms (missed cycles : 2).[0m ×2 + 50.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.595ms + 51.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156790 ms (missed cycles : 2). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156790 ms (missed cycles : 2).[0m ×2 + 51.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.288ms + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165455 ms (missed cycles : 3). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165455 ms (missed cycles : 3).[0m ×2 + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787839 ms (missed cycles : 2). + 53.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787839 ms (missed cycles : 2).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530398 ms (missed cycles : 4). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530398 ms (missed cycles : 4).[0m ×2 + 55.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.988ms + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070845 ms (missed cycles : 2). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070845 ms (missed cycles : 2).[0m ×2 + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817161 ms (missed cycles : 3). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817161 ms (missed cycles : 3).[0m ×2 + 57.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539183 ms (missed cycles : 3). + 57.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539183 ms (missed cycles : 3).[0m ×2 + 58.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 58.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697718 ms (missed cycles : 4). + 58.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697718 ms (missed cycles : 4).[0m ×2 + 59.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.614ms + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833833 ms (missed cycles : 3). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833833 ms (missed cycles : 3).[0m ×2 + 60.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793754123.93545532 seconds ×3 + 60.13sINFOstate_estimatorReceived a set_pose request (stamp: 1793754123957716143, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 60.26sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.26sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.63sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.851ms + 60.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 60.63sINFOamclInitializing particles from estimated pose and covariance + 60.63sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 60.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 60.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.65sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793754124.54522848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.239ms + 61.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940052 ms (missed cycles : 2). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940052 ms (missed cycles : 2).[0m ×2 + 61.11sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 61.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769279 ms (missed cycles : 3). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769279 ms (missed cycles : 3).[0m ×2 + 63.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869600 ms (missed cycles : 2). + 63.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869600 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.6s | 192 warnings · 234 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.012ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2).[0m ×2 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753920.00298476 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793753920032779079, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.248ms + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.48sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753920.61038685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.066ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.69, -5.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.36, -5.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793589 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793589 ms (missed cycles : 4).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302793 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302793 ms (missed cycles : 3).[0m ×2 + 8.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.413ms + 9.02sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.342ms + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382175 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382175 ms (missed cycles : 3).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.954ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923888 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923888 ms (missed cycles : 3).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.592ms + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.156ms + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562059 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562059 ms (missed cycles : 3).[0m ×2 + 11.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.384ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255484 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255484 ms (missed cycles : 2).[0m ×2 + 12.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.644ms + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.343ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964519 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964519 ms (missed cycles : 3).[0m ×2 + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.826ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.668ms + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107106 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107106 ms (missed cycles : 2).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.945ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310986 ms (missed cycles : 4). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310986 ms (missed cycles : 4).[0m ×2 + 15.92sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.696ms + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.610ms + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800824 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800824 ms (missed cycles : 2).[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.026ms + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537196 ms (missed cycles : 4). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537196 ms (missed cycles : 4).[0m ×2 + 18.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.262ms + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.164ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300142 ms (missed cycles : 5). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300142 ms (missed cycles : 5).[0m ×2 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.314ms + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273044 ms (missed cycles : 4). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273044 ms (missed cycles : 4).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.104ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.157ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959375 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959375 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.627ms + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286413 ms (missed cycles : 3). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286413 ms (missed cycles : 3).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.295ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.545ms + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319514 ms (missed cycles : 3). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319514 ms (missed cycles : 3).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.179ms + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782599 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782599 ms (missed cycles : 3).[0m ×2 + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.458ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.889ms + 25.17sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830331 ms (missed cycles : 2). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830331 ms (missed cycles : 2).[0m ×2 + 25.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.607ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521584 ms (missed cycles : 2). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521584 ms (missed cycles : 2).[0m ×2 + 26.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.534ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.854ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414215 ms (missed cycles : 3). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414215 ms (missed cycles : 3).[0m ×2 + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.790ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965301 ms (missed cycles : 3). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965301 ms (missed cycles : 3).[0m ×2 + 28.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.330ms + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.684ms + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043175 ms (missed cycles : 2). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043175 ms (missed cycles : 2).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.247ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054825 ms (missed cycles : 4). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054825 ms (missed cycles : 4).[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.782ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.485ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865595 ms (missed cycles : 2). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865595 ms (missed cycles : 2).[0m ×2 + 31.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.548ms + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336202 ms (missed cycles : 2). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336202 ms (missed cycles : 2).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.464ms + 33.33sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.109ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952620 ms (missed cycles : 3). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952620 ms (missed cycles : 3).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.722675 ms (missed cycles : 6). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.722675 ms (missed cycles : 6).[0m ×2 + 34.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.679ms + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948183 ms (missed cycles : 6). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948183 ms (missed cycles : 6).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046344 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046344 ms (missed cycles : 3).[0m ×2 + 37.18sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391650 ms (missed cycles : 4). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391650 ms (missed cycles : 4).[0m ×2 + 37.93sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055477 ms (missed cycles : 2). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055477 ms (missed cycles : 2).[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237959 ms (missed cycles : 5). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237959 ms (missed cycles : 5).[0m ×2 + 40.04sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.470ms + 40.75sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.841ms + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615735 ms (missed cycles : 3). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615735 ms (missed cycles : 3).[0m ×2 + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.583ms + 41.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.459ms + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892343 ms (missed cycles : 3). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892343 ms (missed cycles : 3).[0m ×2 + 42.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.807ms + 43.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4). + 43.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549675 ms (missed cycles : 4).[0m ×2 + 43.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.157ms + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736600 ms (missed cycles : 3). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736600 ms (missed cycles : 3).[0m ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558130 ms (missed cycles : 3). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558130 ms (missed cycles : 3).[0m ×2 + 46.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.261ms + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604545 ms (missed cycles : 4). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604545 ms (missed cycles : 4).[0m ×2 + 46.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.187ms + 47.53sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.443ms + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482277 ms (missed cycles : 3). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482277 ms (missed cycles : 3).[0m ×2 + 48.24sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.198ms + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223449 ms (missed cycles : 4). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223449 ms (missed cycles : 4).[0m ×2 + 48.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.811ms + 49.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.608ms + 49.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775150 ms (missed cycles : 3). + 49.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775150 ms (missed cycles : 3).[0m ×2 + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.408ms + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.834ms + 50.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047448 ms (missed cycles : 2). + 50.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047448 ms (missed cycles : 2).[0m ×2 + 51.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.132ms + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557214 ms (missed cycles : 2). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557214 ms (missed cycles : 2).[0m ×2 + 52.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.746ms + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069353 ms (missed cycles : 2). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069353 ms (missed cycles : 2).[0m ×2 + 53.17sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.170ms + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999982 ms (missed cycles : 3). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999982 ms (missed cycles : 3).[0m ×2 + 54.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.028ms + 54.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136077 ms (missed cycles : 2). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136077 ms (missed cycles : 2).[0m ×2 + 55.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.095ms + 55.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509415 ms (missed cycles : 2). + 55.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509415 ms (missed cycles : 2).[0m ×2 + 56.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.833ms + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137084 ms (missed cycles : 4). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137084 ms (missed cycles : 4).[0m ×2 + 58.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971604 ms (missed cycles : 3). + 58.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971604 ms (missed cycles : 3).[0m ×2 + 58.25sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.588ms + 58.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793753975.59067535 seconds ×3 + 58.53sINFOstate_estimatorReceived a set_pose request (stamp: 1793753975611165717, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 58.59sWARNlocal_costmap.local_costmapSensor origin at (-2.00, 11.05) is out of map bounds (-3.90, 4.15) to (1.08, 9.13). The costmap cannot raytrace for it. + 58.59sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.65) is out of map bounds (-3.90, 4.15) to (1.08, 9.13). The costmap cannot raytrace for it. + 58.69sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 58.69sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 58.95sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.521ms + 59.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 59.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 59.10sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793753976.20811486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766541 ms (missed cycles : 2). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766541 ms (missed cycles : 2).[0m ×2 + 59.54sINFOobjective_server_nodeFound path in 0 iterations (5.85e-07 s). ×2 + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695501 ms (missed cycles : 3). + 60.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695501 ms (missed cycles : 3).[0m ×2 + 60.64sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184048 + 60.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.681ms + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132911 ms (missed cycles : 4). + 61.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132911 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.3s | 147 warnings · 424 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.12sINFOcontroller_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 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). ×2 + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×4 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_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 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478998 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478998 ms (missed cycles : 2).[0m ×2 + 7.34sINFOamclParticle filter update iteration stats: 1033 particles 811 points - 11.480ms + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657976 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657976 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990109 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990109 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677760 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677760 ms (missed cycles : 2).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236541 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236541 ms (missed cycles : 3).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106958 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106958 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773475 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773475 ms (missed cycles : 3).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066077 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066077 ms (missed cycles : 2).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921409 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921409 ms (missed cycles : 4).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718062 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718062 ms (missed cycles : 3).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508049 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508049 ms (missed cycles : 3).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310534 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310534 ms (missed cycles : 2).[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114673 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114673 ms (missed cycles : 3).[0m ×2 + 20.22sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.277ms + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931454 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931454 ms (missed cycles : 2).[0m ×2 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081519 ms (missed cycles : 4). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081519 ms (missed cycles : 4).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556270 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556270 ms (missed cycles : 3).[0m ×2 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396048 ms (missed cycles : 3). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396048 ms (missed cycles : 3).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158696 ms (missed cycles : 2). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158696 ms (missed cycles : 2).[0m ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569480 ms (missed cycles : 3). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569480 ms (missed cycles : 3).[0m ×2 + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936843 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936843 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647728 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647728 ms (missed cycles : 3).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559749 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559749 ms (missed cycles : 3).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263594 ms (missed cycles : 2). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263594 ms (missed cycles : 2).[0m ×2 + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871805 ms (missed cycles : 2). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871805 ms (missed cycles : 2).[0m ×2 + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412597 ms (missed cycles : 3). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412597 ms (missed cycles : 3).[0m ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836732 ms (missed cycles : 3). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836732 ms (missed cycles : 3).[0m ×2 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723268 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723268 ms (missed cycles : 2).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.452045 ms (missed cycles : 4). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.452045 ms (missed cycles : 4).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675240 ms (missed cycles : 2). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675240 ms (missed cycles : 2).[0m ×2 + 37.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.188ms + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355240 ms (missed cycles : 4). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355240 ms (missed cycles : 4).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431726 ms (missed cycles : 3). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431726 ms (missed cycles : 3).[0m ×2 + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973362 ms (missed cycles : 3).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779988 ms (missed cycles : 4). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779988 ms (missed cycles : 4).[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681333 ms (missed cycles : 3). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681333 ms (missed cycles : 3).[0m ×2 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3).[0m ×2 + 46.28sINFOjoint_trajectory_controllerGoal reached, success! + 46.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3). + 46.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3).[0m ×2 + 46.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753817.22268891 seconds ×3 + 46.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.36sINFOstate_estimatorReceived a set_pose request (stamp: 1793753817237881729, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 46.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.87sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753817.80613422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.94sWARNobjective_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 + 46.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 46.95sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 46.95sINFOamclInitializing particles from estimated pose and covariance + 46.96sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 46.96sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 47.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.319ms + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3).[0m ×2 + 48.11sINFOobjective_server_nodeFound path in 0 iterations (2.3964e-05 s). ×2 + 48.17sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3).[0m ×2 + 49.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.134ms + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 50.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.955ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 118 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821494 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821494 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280256 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280256 ms (missed cycles : 4).[0m ×2 + 1.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.21sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793753887.36654115 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342530 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342530 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793753888.97276044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244604 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244604 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597923 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597923 ms (missed cycles : 4).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057854 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057854 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869082 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869082 ms (missed cycles : 3).[0m ×2 + 7.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.551ms + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806496 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806496 ms (missed cycles : 3).[0m ×2 + 8.05sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.377ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028127 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028127 ms (missed cycles : 4).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.248ms + 9.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.534ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552787 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552787 ms (missed cycles : 3).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.186ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533469 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533469 ms (missed cycles : 4).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.611ms + 11.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.397ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037448 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037448 ms (missed cycles : 2).[0m ×2 + 12.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.637ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267710 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267710 ms (missed cycles : 4).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.391ms ×2 + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.083ms + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180746 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180746 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.715ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626504 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626504 ms (missed cycles : 2).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.055ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.438ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.030627 ms (missed cycles : 4). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.030627 ms (missed cycles : 4).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.568ms + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527264 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527264 ms (missed cycles : 4).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.693ms + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.560ms + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384896 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384896 ms (missed cycles : 2).[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.935ms ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690733 ms (missed cycles : 5). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.690733 ms (missed cycles : 5).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.676ms + 19.66sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.636ms + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321053 ms (missed cycles : 4). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321053 ms (missed cycles : 4).[0m ×2 + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.599ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026808 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026808 ms (missed cycles : 3).[0m ×2 + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.113ms + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.610ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903857 ms (missed cycles : 3). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903857 ms (missed cycles : 3).[0m ×2 + 22.64sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.444ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332551 ms (missed cycles : 5). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332551 ms (missed cycles : 5).[0m ×2 + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.780ms + 24.03sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.586ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.829640 ms (missed cycles : 6). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.829640 ms (missed cycles : 6).[0m ×2 + 24.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.524ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506267 ms (missed cycles : 4). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506267 ms (missed cycles : 4).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.642ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842866 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842866 ms (missed cycles : 3).[0m ×2 + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719629 ms (missed cycles : 3). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719629 ms (missed cycles : 3).[0m ×2 + 27.52sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.084ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.369ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233664 ms (missed cycles : 2). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233664 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.219ms + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037493 ms (missed cycles : 2). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037493 ms (missed cycles : 2).[0m ×2 + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.709ms + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.357ms + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871938 ms (missed cycles : 3). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871938 ms (missed cycles : 3).[0m ×2 + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.012ms + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 32.39sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6).[0m ×2 + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3).[0m ×2 + 33.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753920.00298476 seconds ×3 + 33.88sINFOstate_estimatorReceived a set_pose request (stamp: 1793753920032779079, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 34.04sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.04sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.14sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.14sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 34.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.42sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.248ms + 34.42sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 34.42sINFOamclInitializing particles from estimated pose and covariance + 34.43sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 34.43sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 34.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753920.61038685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.78sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.066ms + 34.87sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2).[0m ×2 + 35.77sWARNglobal_costmap.global_costmapSensor origin at (1.69, -5.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 35.77sWARNglobal_costmap.global_costmapSensor origin at (1.36, -5.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.5s | 74 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539183 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539183 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697718 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697718 ms (missed cycles : 4).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.614ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833833 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833833 ms (missed cycles : 3).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.38sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1793754123.93545532 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.43sINFOstate_estimatorReceived a set_pose request (stamp: 1793754123957716143, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 13.63) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-3.94, 13.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-3.03, 13.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.66sWARNlocal_costmap.local_costmapSensor origin at (-3.93, 13.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 8.851ms + 2.92sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 2.93sINFOamclInitializing particles from estimated pose and covariance ×2 + 2.93sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 2.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569302, y=-0.017179, yaw=-0.0183992 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.94sINFOobjective_server_nodecaller: ×6 + 2.94sINFOobjective_server_nodetype: 0 ×6 + 2.94sINFOobjective_server_nodename: "" ×6 + 2.94sINFOobjective_server_nodeinstance_id: "" ×6 + 2.94sINFOobjective_server_node ×6 + 3.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1793754124.54522848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 21.239ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940052 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940052 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.76sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769279 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769279 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869600 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869600 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250046 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250046 ms (missed cycles : 2).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669506 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669506 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933778 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933778 ms (missed cycles : 3).[0m ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033134 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033134 ms (missed cycles : 2).[0m ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 10.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (5.36e-07 s). ×2 + 10.61sINFOobjective_server_nodeFound path in 33 iterations (0.0316876 s). ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768466 ms (missed cycles : 5). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768466 ms (missed cycles : 5).[0m ×2 + 11.09sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (5.83e-07 s). ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015851 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015851 ms (missed cycles : 3).[0m ×2 + 11.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 11.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 12.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484796 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484796 ms (missed cycles : 4).[0m ×2 + 12.91sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006542 ms (missed cycles : 3). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006542 ms (missed cycles : 3).[0m ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309164 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309164 ms (missed cycles : 2).[0m ×2 + 14.85sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.387ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.364ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791169 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791169 ms (missed cycles : 2).[0m ×2 + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.685ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325124 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325124 ms (missed cycles : 2).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.134ms + 17.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.893ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3).[0m ×2 + 18.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793754140.45887184 seconds ×3 + 18.95sINFOstate_estimatorReceived a set_pose request (stamp: 1793754140477906745, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.098ms + 19.44sINFOamclParticle filter update iteration stats: 2103 particles 811 points - 5.750ms + 19.44sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 19.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793754141.08612704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.55sINFOmove_groupClearing octomap...[0m ×2 + 19.55sINFOmove_groupOctomap cleared.[0m ×2 + 19.59sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.59sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.283ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2).[0m ×2 + 20.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793754142.27631545 seconds ×3 + 21.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793754142.85818410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3).[0m ×2 + 22.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793754144.00835371 seconds ×3 + 22.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.1s | 112 errors · 30 warnings · 546 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.893ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3).[0m ×2 + 1.23sINFOjoint_trajectory_controllerGoal reached, success! + 1.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793754140.45887184 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.30sINFOstate_estimatorReceived a set_pose request (stamp: 1793754140477906745, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.098ms + 1.79sINFOamclParticle filter update iteration stats: 2103 particles 811 points - 5.750ms + 1.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 1.79sINFOamclInitializing particles from estimated pose and covariance + 1.79sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 1.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.81sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.81sINFOobjective_server_nodecaller: ×4 + 1.81sINFOobjective_server_nodetype: 0 ×4 + 1.81sINFOobjective_server_nodename: "" ×4 + 1.81sINFOobjective_server_nodeinstance_id: "" ×4 + 1.81sINFOobjective_server_node ×4 + 1.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793754141.08612704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.90sINFOmove_groupClearing octomap...[0m ×2 + 1.90sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.283ms + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793754142.27631545 seconds ×3 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793754142.85818410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793754144.00835371 seconds ×3 + 5.06sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750433 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750433 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016748 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016748 ms (missed cycles : 2).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632440 ms (missed cycles : 3). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632440 ms (missed cycles : 3).[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622434 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622434 ms (missed cycles : 3).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915775 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915775 ms (missed cycles : 3).[0m ×2 + 10.86sERRORweb_video_auth_proxy-41process[web_video_auth_proxy-41] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORweb_bridge_auth_proxy-40process[web_bridge_auth_proxy-40] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORvideo_server-39process[video_server-39] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sINFOweb_video_auth_proxy-41sending signal 'SIGTERM' to process[web_video_auth_proxy-41] ×2 + 10.87sERRORtf2_web_republisher_node-38process[tf2_web_republisher_node-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORweb_video_auth_proxy-41process has died [pid 8280, 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 + 10.87sERRORjoint_state_visualization_relay-37process[joint_state_visualization_relay-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sINFOweb_bridge_auth_proxy-40sending signal 'SIGTERM' to process[web_bridge_auth_proxy-40] ×2 + 10.88sERRORtf_visualization_relay-36process[tf_visualization_relay-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORweb_bridge_auth_proxy-40process has died [pid 8277, 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 + 10.88sERRORweb_bridge-35process[web_bridge-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORui_teleop_bridge-34process[ui_teleop_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORexecute_objective_bridge-33process[execute_objective_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORcomponent_container_mt-32process[component_container_mt-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORobjective_server_node_main-30process[objective_server_node_main-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORmove_end_effector_resampler_node-29process[move_end_effector_resampler_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORmove_joint_resampler_node-28process[move_joint_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORwaypoint_manager_node-27process[waypoint_manager_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORparameter_manager_node-26process[parameter_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORmove_group-25process[move_group-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORros2_control_node-13process[ros2_control_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORfixed_lag_smoother_node-12process[fixed_lag_smoother_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORrelay-11process[relay-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORrelay-10process[relay-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORstatic_transform_publisher-6process[static_transform_publisher-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORlidar_flattener.py-5process[lidar_flattener.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORodom_world_drift-4process[odom_world_drift-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sINFOvideo_server-39sending signal 'SIGTERM' to process[video_server-39] ×2 + 10.93sINFOtf2_web_republisher_node-38sending signal 'SIGTERM' to process[tf2_web_republisher_node-38] ×2 + 10.94sINFOjoint_state_visualization_relay-37sending signal 'SIGTERM' to process[joint_state_visualization_relay-37] ×2 + 10.95sINFOtf_visualization_relay-36sending signal 'SIGTERM' to process[tf_visualization_relay-36] ×2 + 10.96sINFOlaunchprocess[web_bridge_auth_proxy-40] was required: shutting down launched system ×2 + 10.96sINFOweb_bridge-35sending signal 'SIGTERM' to process[web_bridge-35] ×2 + 10.97sINFOui_teleop_bridge-34sending signal 'SIGTERM' to process[ui_teleop_bridge-34] ×2 + 10.99sINFOexecute_objective_bridge-33sending signal 'SIGTERM' to process[execute_objective_bridge-33] ×2 + 11.00sINFOcomponent_container_mt-32sending signal 'SIGTERM' to process[component_container_mt-32] ×2 + 11.01sINFOvideo_server-39process has finished cleanly [pid 8270] ×2 + 11.01sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 11.02sINFOobjective_server_node_main-30sending signal 'SIGTERM' to process[objective_server_node_main-30] ×2 + 11.03sINFOmove_end_effector_resampler_node-29sending signal 'SIGTERM' to process[move_end_effector_resampler_node-29] ×2 + 11.05sINFOmove_joint_resampler_node-28sending signal 'SIGTERM' to process[move_joint_resampler_node-28] ×2 + 11.07sINFOwaypoint_manager_node-27sending signal 'SIGTERM' to process[waypoint_manager_node-27] ×2 + 11.08sINFOparameter_manager_node-26sending signal 'SIGTERM' to process[parameter_manager_node-26] ×2 + 11.09sINFOmove_group-25sending signal 'SIGTERM' to process[move_group-25] ×2 + 11.11sINFOros2_control_node-13sending signal 'SIGTERM' to process[ros2_control_node-13] ×2 + 11.11sINFOcontroller_managerShutdown request received.... + 11.11sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.11sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.11sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.12sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.12sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.12sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.12sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.12sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.12sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.12sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.12sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.12sINFOcontroller_managerShutting down the controller manager. + 11.13sINFOfixed_lag_smoother_node-12sending signal 'SIGTERM' to process[fixed_lag_smoother_node-12] ×2 + 11.14sINFOrelay-11sending signal 'SIGTERM' to process[relay-11] ×2 + 11.15sERRORmove_group-25process has died [pid 8242, 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_6ni2medz --params-file /tmp/launch_params_h18w2pdb --params-file /tmp/launch_params_1j1k772p --params-file /tmp/launch_params_o32j19bm --params-file /tmp/launch_params_it6sxj8m --params-file /tmp/launch_params_tiq42pom']. ×2 + 11.15sINFOrelay-10sending signal 'SIGTERM' to process[relay-10] ×2 + 11.17sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.18sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.19sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.20sINFOstatic_transform_publisher-6sending signal 'SIGTERM' to process[static_transform_publisher-6] ×2 + 11.21sINFOlidar_flattener.py-5sending signal 'SIGTERM' to process[lidar_flattener.py-5] ×2 + 11.22sINFOodom_world_drift-4sending signal 'SIGTERM' to process[odom_world_drift-4] ×2 + 11.23sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.24sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.24sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.24sINFOmap_serverDeactivating + 11.24sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.25sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.25sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.25sINFOcontroller_serverDeactivating + 11.25sINFOlocal_costmap.local_costmapDeactivating + 11.25sINFOvideo_server2026/11/04 01:02:30 INF shutting down gracefully ×2 + 11.25sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOvideo_server2026/11/04 01:02:30 INF [WebRTC] closing ×2 + 11.25sINFOvideo_server2026/11/04 01:02:30 INF [RTSP] closing ×2 + 11.25sINFOvideo_server2026/11/04 01:02:30 INF waiting for running hooks ×2 + 11.25sINFOmap_serverCleaning up + 11.25sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.25sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.25sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.25sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.25sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.26sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.26sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.26sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.26sERRORmove_groupStack trace (most recent call last) in thread 8898: ×2 + 11.26sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.26sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3e3dc6dcc3, in __clone ×2 + 11.26sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3e3dbe0b83, in ×2 + 11.26sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3e3de71db3, in ×2 + 11.26sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f3e3e5dbe94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.26sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3e3e205620, in rclcpp::Rate::sleep() ×2 + 11.26sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3e3e147d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.26sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3e3e109087, in ×2 + 11.26sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3e3de40390, in __cxa_throw ×2 + 11.26sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3e3de2aa54, in std::terminate() ×2 + 11.26sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3e3de400d9, in ×2 + 11.26sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3e3de2aff4, in ×2 + 11.26sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3e3db6c8fe, in abort ×2 + 11.26sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3e3db8927d, in raise ×2 + 11.26sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3e3dbe2c0c, in pthread_kill ×2 + 11.26sERRORmove_groupAborted (Signal sent by tkill() 8242 0) ×2 + 11.26sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.26sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.26sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.26sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.26sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.26sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.26sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.26sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.26sINFOrelaysignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.26sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.26sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.26sINFOodom_world_driftsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.27sERRORamclThe bond connection to the lifecycle manager has been broken + 11.31sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.32sINFOcontroller_serverCleaning up + 11.32sINFOlocal_costmap.local_costmapCleaning up + 11.33sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.33sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.33sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.36sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.36sINFOsmoother_serverDeactivating + 11.36sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.37sINFOsmoother_serverCleaning up + 11.39sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.39sINFOplanner_serverDeactivating + 11.39sINFOglobal_costmap.global_costmapDeactivating + 11.42sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.42sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.42sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.42sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.42sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.42sINFOvelocity_smootherDeactivating + 11.42sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.57sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.57sINFOwaypoint_followerDeactivating + 11.57sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.68sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.68sINFObt_navigatorDeactivating + 11.68sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.74sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.74sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.75sINFOplanner_serverCleaning up + 11.77sINFOglobal_costmap.global_costmapCleaning up + 11.78sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.78sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.80sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.80sINFObehavior_serverDeactivating + 11.80sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.81sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.81sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.81sINFObt_navigatorCleaning up + 11.91sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.91sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.91sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.91sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.91sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.91sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.92sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.92sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.92sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.92sINFOvelocity_smootherCleaning up + 11.92sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.92sINFOwaypoint_followerCleaning up + 11.95sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.97sINFObt_navigatorCompleted Cleaning up + 11.97sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.97sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.97sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.98sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.98sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.98sINFObehavior_serverCleaning up + 11.99sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.99sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.00sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.00sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.00sINFOjoint_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 + 12.00sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.00sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.00sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.00sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.00sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.00sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.00sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.00sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.00sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.00sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.00sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.00sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.00sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.00sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.01sINFOtf2_web_republisher_node-38process has finished cleanly [pid 8262] ×2 + 12.01sINFOlaunchprocess[tf2_web_republisher_node-38] was required: shutting down launched system ×2 + 12.04sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.04sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.04sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.04sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.04sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.04sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.04sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.07sERRORjoint_state_visualization_relay-37process has died [pid 8261, 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_b_1tmkzq']. ×2 + 12.07sINFOlaunchprocess[joint_state_visualization_relay-37] was required: shutting down launched system ×2 + 12.08sINFOtf_visualization_relay-36process has finished cleanly [pid 8260] ×2 + 12.08sINFOlaunchprocess[tf_visualization_relay-36] was required: shutting down launched system ×2 + 12.10sINFOmove_end_effector_resampler_node-29process has finished cleanly [pid 8250] ×2 + 12.12sINFOmove_joint_resampler_node-28process has finished cleanly [pid 8249] ×2 + 12.12sINFOui_teleop_bridge-34process has finished cleanly [pid 8256] ×2 + 12.13sINFOexecute_objective_bridge-33process has finished cleanly [pid 8255] ×2 + 12.17sINFOparameter_manager_node-26process has finished cleanly [pid 8243] ×2 + 12.19sINFOwaypoint_manager_node-27process has finished cleanly [pid 8245] ×2 + 12.19sINFOrelay-11process has finished cleanly [pid 8180] ×2 + 12.20sINFOcomponent_container_mt-32process has finished cleanly [pid 8253] ×2 + 12.21sINFOrelay-10process has finished cleanly [pid 8179] ×2 + 12.22sINFOfixed_lag_smoother_node-12process has finished cleanly [pid 8181] ×2 + 12.22sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8075] ×2 + 12.23sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 8074] ×2 + 12.24sINFOobjective_server_node[2026-11-04 01:02:31.431] [moveit_pro_license] [critical] ×2 + 12.24sINFOobjective_server_node************************************************* ×4 + 12.24sINFOobjective_server_node* MoveIt Pro License ×2 + 12.24sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.24sINFOstatic_transform_publisher-7process has finished cleanly [pid 8073] ×2 + 12.25sINFOstatic_transform_publisher-6process has finished cleanly [pid 8072] ×2 + 12.26sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.26sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 12.26sINFOlidar_flattener.pymain() ×2 + 12.26sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 12.26sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.26sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.26sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.26sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.26sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.26sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.26sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.26sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.26sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.26sINFOcomponent_container_mt-31process has finished cleanly [pid 8252] ×2 + 12.28sINFOstatic_transform_publisher-3process has finished cleanly [pid 8069] ×2 + 12.31sERRORlidar_flattener.py-5process has died [pid 8071, 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_iltjow_u']. ×2 + 12.34sERRORcomponent_container_isolated-1process has died [pid 8067, 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_g29ddnqx --params-file /tmp/launch_params_mse67_rg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.45sINFOobjective_server_node_main-30process has finished cleanly [pid 8251] ×2 + 12.45sINFOlaunchprocess[objective_server_node_main-30] was required: shutting down launched system ×2 + 12.66sERRORcomponent_container_isolated-2process has died [pid 8068, 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_g29ddnqx --params-file /tmp/launch_params_rwsumcc2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.26sINFOodom_world_drift-4process has finished cleanly [pid 8070] ×2 + 13.86sINFOros2_control_node-13process has finished cleanly [pid 8182] ×2 + 14.11sINFOweb_bridge-35process has finished cleanly [pid 8257] ×2 + 14.11sINFOlaunchprocess[web_bridge-35] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 64 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509415 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509415 ms (missed cycles : 2).[0m ×2 + 0.89sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.833ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137084 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137084 ms (missed cycles : 4).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971604 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971604 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.588ms + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1793753975.59067535 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOstate_estimatorReceived a set_pose request (stamp: 1793753975611165717, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.00, 11.05) is out of map bounds (-3.90, 4.15) to (1.08, 9.13). The costmap cannot raytrace for it. + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.67, 11.65) is out of map bounds (-3.90, 4.15) to (1.08, 9.13). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 11.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.62) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.05sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 10.521ms + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1793753976.20811486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766541 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766541 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (5.85e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695501 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695501 ms (missed cycles : 3).[0m ×2 + 4.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 4.74sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 4.74sINFOamclInitializing particles from estimated pose and covariance ×2 + 4.74sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567332, y=-0.0171841, yaw=-0.0184048 + 4.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.681ms + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132911 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132911 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693628 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693628 ms (missed cycles : 4).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005452 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005452 ms (missed cycles : 2).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.170ms + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214559 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214559 ms (missed cycles : 2).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.878ms + 9.57sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.316ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168313 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168313 ms (missed cycles : 3).[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.089ms + 10.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.059ms + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865347 ms (missed cycles : 2). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865347 ms (missed cycles : 2).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.234ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896207 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896207 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.554ms + 13.09sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.370ms + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357632 ms (missed cycles : 3). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357632 ms (missed cycles : 3).[0m ×2 + 13.30sINFOobjective_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 + 13.31sINFOjoint_trajectory_controllerGot request to cancel goal + 13.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.31sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.32sERRORobjective_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: 1793753986.32187772 seconds ×3 + 13.35sINFOstate_estimatorReceived a set_pose request (stamp: 1793753986349261384, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 13.39sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.83) is out of map bounds (-2.65, -2.20) to (2.33, 2.78). The costmap cannot raytrace for it. + 13.39sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.85) is out of map bounds (-2.65, -2.20) to (2.33, 2.78). The costmap cannot raytrace for it. + 13.49sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 13.49sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 13.59sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.59sWARNlocal_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. ×2 + 13.79sINFOamclParticle filter update iteration stats: 4694 particles 811 points - 8.800ms + 13.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.87sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.94sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1793753986.94049072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725279 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725279 ms (missed cycles : 3).[0m ×2 + 14.35sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786845 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786845 ms (missed cycles : 3).[0m ×2 + 15.46sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0567333, y=-0.0171841, yaw=-0.0184048 + 15.67sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 31.820ms + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637654 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637654 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 49 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.39sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.00sINFOobjective_server_nodecaller: ×4 + 3.00sINFOobjective_server_nodetype: 0 ×4 + 3.00sINFOobjective_server_nodename: "" ×4 + 3.00sINFOobjective_server_nodeinstance_id: "" ×4 + 3.00sINFOobjective_server_node ×4 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003657 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003657 ms (missed cycles : 4).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821494 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821494 ms (missed cycles : 3).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280256 ms (missed cycles : 4). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280256 ms (missed cycles : 4).[0m ×2 + 8.88sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1793753887.36654115 seconds ×3 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342530 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342530 ms (missed cycles : 2).[0m ×2 + 10.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.43sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.48sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1793753888.97276044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244604 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244604 ms (missed cycles : 2).[0m ×2 + 10.91sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597923 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597923 ms (missed cycles : 4).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057854 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057854 ms (missed cycles : 2).[0m ×2 + 13.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 49 warnings · 148 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.975ms + 0.36sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.357ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621141 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621141 ms (missed cycles : 3).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.743ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944564 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944564 ms (missed cycles : 3).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818244 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818244 ms (missed cycles : 4).[0m ×2 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 9.801ms + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1793754059.96071100 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOstate_estimatorReceived a set_pose request (stamp: 1793754059982680778, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-2.40, 14.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.18sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 14.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.22, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1793754060.56028438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 12.681ms + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.60sINFOamclInitializing particles from estimated pose and covariance + 3.60sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.60sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568808, y=-0.0171803, yaw=-0.0184007 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690556 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690556 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 34.005ms + 4.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911615 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911615 ms (missed cycles : 3).[0m ×2 + 5.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154743 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154743 ms (missed cycles : 3).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 9.44sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 9.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.99sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 10.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.48sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 12.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 42 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753817.22268891 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOstate_estimatorReceived a set_pose request (stamp: 1793753817237881729, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753817.80613422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sWARNobjective_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 + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) ×2 + 3.71sINFOamclInitializing particles from estimated pose and covariance ×2 + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×4 + 3.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.319ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.3964e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.134ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.955ms + 7.13sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.304ms + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320130 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320130 ms (missed cycles : 2).[0m ×2 + 7.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 7.82sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 8.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.036ms + 8.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.412ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569132 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569132 ms (missed cycles : 3).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.370ms + 9.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.996ms + 9.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793753823.44634175 seconds ×3 + 9.36sINFOstate_estimatorReceived a set_pose request (stamp: 1793753823468166770, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133300 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133300 ms (missed cycles : 3).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 5.551ms + 9.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.87sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793753824.06071138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222466 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222466 ms (missed cycles : 4).[0m ×2 + 11.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566937, y=-0.0171808, yaw=-0.0183891 + 11.54sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.243ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047907 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047907 ms (missed cycles : 3).[0m ×2 + 12.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142102 ms (missed cycles : 5). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142102 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 27 warnings · 127 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791169 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791169 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.685ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325124 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325124 ms (missed cycles : 2).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.134ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.893ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793754140.45887184 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOstate_estimatorReceived a set_pose request (stamp: 1793754140477906745, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.098ms + 3.55sINFOamclParticle filter update iteration stats: 2103 particles 811 points - 5.750ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793754141.08612704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.66sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.283ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793754142.27631545 seconds ×3 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793754142.85818410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793754144.00835371 seconds ×3 + 6.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750433 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750433 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016748 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016748 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 6 errors · 21 warnings · 727 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
+ 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.69sINFOobjective_server_node</Control> ×16 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 0.81sINFOobjective_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 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_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=\"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: ""
+ 1.50sINFOobjective_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 + 1.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.40sINFOmove_groupClearing octomap...[0m ×4 + 2.40sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 7.64sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 0.7s | 6 errors · 21 warnings · 817 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×26 + 0.00sINFOobjective_server_nodeobjective_name: "" ×12 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×6 + 0.00sINFOobjective_server_node ×68 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×24 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×6 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×12 + 0.00sINFOobjective_server_node</Control> ×24 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×12 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×12 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×26 + 0.00sINFOobjective_server_nodecaller: ×26 + 0.00sINFOobjective_server_nodetype: 0 ×26 + 0.00sINFOobjective_server_nodename: "" ×26 + 0.00sINFOobjective_server_nodeinstance_id: "" ×26 + 0.06sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 0.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[0m ×2 + 0.21sINFOobjective_server_nodeReceived /do_objective goal:
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 + 0.21sINFOobjective_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 + 0.25sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.34sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 0.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.90sINFOobjective_server_nodeReceived /do_objective goal:
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: ""
+ 0.90sINFOobjective_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 + 0.94sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 1.02sINFOobjective_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 + 1.08sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
+ 1.71sINFOobjective_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 + 1.75sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 1.92sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.60sINFOmove_groupClearing octomap...[0m ×4 + 2.61sINFOmove_groupOctomap cleared.[0m ×4 + 2.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 5.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 6.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_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 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 6.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.74sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 341 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.12sINFOcontroller_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 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_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 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478998 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753817.22268891 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOstate_estimatorReceived a set_pose request (stamp: 1793753817237881729, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753817.80613422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sWARNobjective_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 + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.71sINFOamclInitializing particles from estimated pose and covariance + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.319ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.3964e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.134ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.955ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687275 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814033 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488374 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600203 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1793753817.22268891 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOstate_estimatorReceived a set_pose request (stamp: 1793753817237881729, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1793753817.80613422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sWARNobjective_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 + 3.71sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.443ms + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.71sINFOamclInitializing particles from estimated pose and covariance + 3.71sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0568841, y=-0.0171802, yaw=-0.0184006 + 4.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.319ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995383 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.3964e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825151 ms (missed cycles : 3).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.134ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 6.81sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.955ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 88 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803504 ms (missed cycles : 2).[0m ×2 + 0.12sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.764ms + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 4.955ms + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.304ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320130 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320130 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.033ms + 1.48sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.817ms + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.036ms + 2.14sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.412ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569132 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569132 ms (missed cycles : 3).[0m ×2 + 2.46sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.370ms + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.996ms + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1793753823.44634175 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOstate_estimatorReceived a set_pose request (stamp: 1793753823468166770, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133300 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133300 ms (missed cycles : 3).[0m ×2 + 3.44sINFOamclParticle filter update iteration stats: 1587 particles 811 points - 5.551ms + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1793753824.06071138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.01e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222466 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222466 ms (missed cycles : 4).[0m ×2 + 5.15sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 5.15sINFOamclInitializing particles from estimated pose and covariance + 5.16sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 5.16sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0566937, y=-0.0171808, yaw=-0.0183891 + 5.20sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.243ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047907 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047907 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142102 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142102 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 28 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot | localize_robot.xml | 0.0s | 28 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Localize Robot If Needed | localize_robot_if_needed.xml | 0.0s | 28 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 28 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 28 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 28 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 28 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848352 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420272 ms (missed cycles : 4).[0m ×2 + 1.96sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.256ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700090 ms (missed cycles : 2).[0m ×2 + 2.39sINFOjoint_trajectory_controllerGoal reached, success! + 2.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.44sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1793753880.93090034 seconds ×3 + 2.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOstate_estimatorReceived a set_pose request (stamp: 1793753880953103858, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.51sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-4.30, 4.35) to (0.68, 9.33). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.66) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.61sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.62) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.95, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.00sINFOobjective_server_nodecaller: ×2 + 3.00sINFOobjective_server_nodetype: 0 ×2 + 3.00sINFOobjective_server_nodename: "" ×2 + 3.00sINFOobjective_server_nodeinstance_id: "" ×2 + 3.00sINFOobjective_server_node ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 14.620ms + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.01sINFOamclInitializing particles from estimated pose and covariance + 3.01sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.01sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569135, y=-0.0171795, yaw=-0.0183997 + 3.06sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1793753881.54637170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791582 ms (missed cycles : 3).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 18.854ms + 3.48sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273451 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515080 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.012ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2).[0m ×2 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753920.00298476 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793753920032779079, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.248ms + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.48sINFOamclInitializing particles from estimated pose and covariance + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753920.61038685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.066ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.69, -5.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.36, -5.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate Hangar Loop | navigate_hangar_loop.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.012ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2).[0m ×2 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753920.00298476 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793753920032779079, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.248ms + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.48sINFOamclInitializing particles from estimated pose and covariance + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753920.61038685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.066ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.69, -5.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.36, -5.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.012ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2).[0m ×2 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753920.00298476 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793753920032779079, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.248ms + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.48sINFOamclInitializing particles from estimated pose and covariance + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753920.61038685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.066ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.69, -5.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.36, -5.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 28 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 7.012ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155143 ms (missed cycles : 2).[0m ×2 + 0.73sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.293ms + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.329ms + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419292 ms (missed cycles : 6).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.410ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541817 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1793753920.00298476 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOstate_estimatorReceived a set_pose request (stamp: 1793753920032779079, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.09sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.72, 13.22) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-4.62, 13.25) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 811 points - 9.248ms + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.48sINFOamclInitializing particles from estimated pose and covariance + 3.48sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.48sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569096, y=-0.0171796, yaw=-0.0183998 + 3.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1793753920.61038685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 28.066ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842814 ms (missed cycles : 2).[0m ×2 + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.69, -5.12) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 4.83sWARNglobal_costmap.global_costmapSensor origin at (1.36, -5.95) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678044 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909546 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Refine Localization In Place | refine_localization_in_place.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Refine Localization In Place Subtree | refine_localization_in_place_subtree.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 6 errors · 21 warnings · 587 info |
+ 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 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: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
+ 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 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: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 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 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752139 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738394 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815925 ms (missed cycles : 5).[0m ×2 + 2.57sINFOjoint_trajectory_controllerGoal reached, success! + 2.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1793754066.46045303 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820968 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1793754067.08515239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747374 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702656 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal + 5.84sINFOjoint_trajectory_controllerAccepted new action goal + 5.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778475 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 127 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791169 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791169 ms (missed cycles : 2).[0m ×2 + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.685ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325124 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325124 ms (missed cycles : 2).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 5.134ms + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 6.893ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253508 ms (missed cycles : 3).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1793754140.45887184 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOstate_estimatorReceived a set_pose request (stamp: 1793754140477906745, x: -0.0576239, y: -0.0172046, z: 0, roll: 0, pitch: 0, yaw: -0.0185516) + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202774 ms (missed cycles : 3).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 8.098ms + 3.55sINFOamclParticle filter update iteration stats: 2103 particles 811 points - 5.750ms + 3.55sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg) + 3.56sINFOamclInitializing particles from estimated pose and covariance + 3.56sINFOodom_world_driftsim teleport: reset fuse and re-seeded AMCL at truth (-0.06, -0.02, -1.1 deg)[0m ×2 + 3.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=-0.0569391, y=-0.0171788, yaw=-0.0183989 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1793754141.08612704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.66sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.70sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 811 points - 22.283ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501622 ms (missed cycles : 2).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1793754142.27631545 seconds ×3 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1793754142.85818410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966475 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684926 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1793754144.00835371 seconds ×3 + 6.83sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 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/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 3 errors · 21 warnings · 540 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.17sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.90sINFOmove_groupClearing octomap...[0m ×4 + 0.90sINFOmove_groupOctomap cleared.[0m ×4 + 0.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 1.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 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: 1793753768.73773813 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: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
+ 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.69sINFOobjective_server_node</Control> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 0.90sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 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: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 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 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOvacuum_gripperReceived & accepted new action goal ×2 + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_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 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.13sINFOjoint_trajectory_controllerReceived new action goal + 7.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.13sINFOjoint_trajectory_controllerAccepted new action goal + 7.13sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 6 errors · 21 warnings · 811 info |
+ 0.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×23 + 0.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×46 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2).[0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×20 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×40 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×22 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×22 + 0.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×11 + 0.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×22 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node ×66 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_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 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 1.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 1.27sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 2.08sINFOobjective_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 + 2.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 3.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.67sINFOmove_groupClearing octomap...[0m ×4 + 3.67sINFOmove_groupOctomap cleared.[0m ×4 + 3.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 7.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sINFOobjective_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 + 7.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 7.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 7.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 errors · 21 warnings · 722 info |
+ 0.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847594 ms (missed cycles : 2).[0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×18 + 0.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×9 + 0.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×18 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×22 + 1.07sINFOobjective_server_nodeobjective_name: "" ×12 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node ×64 + 1.07sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×6 + 1.07sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×12 + 1.07sINFOobjective_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 + 1.07sINFOobjective_server_node<Control ID=\"Fallback\"> ×12 + 1.07sINFOobjective_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 + 1.12sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.77530670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4). + 1.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753767.87024713 seconds ×3 + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033180 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 1.27sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×6 + 1.32sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control></Control> ×2 + 2.00sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 2.08sINFOobjective_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 + 2.14sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 2.82sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.67sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.67sINFOmove_groupClearing octomap...[0m ×2 + 3.67sINFOmove_groupOctomap cleared.[0m ×2 + 3.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 4.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOvacuum_gripperReceived & accepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 errors · 18 warnings · 724 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
+ 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.69sINFOobjective_server_node</Control> ×16 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 0.81sINFOobjective_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 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_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=\"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: ""
+ 1.50sINFOobjective_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 + 1.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.40sINFOmove_groupClearing octomap...[0m ×4 + 2.40sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 errors · 18 warnings · 724 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
+ 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.69sINFOobjective_server_node</Control> ×16 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 0.81sINFOobjective_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 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_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=\"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: ""
+ 1.50sINFOobjective_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 + 1.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.40sINFOmove_groupClearing octomap...[0m ×4 + 2.40sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 errors · 18 warnings · 724 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×24 + 0.00sINFOobjective_server_nodeobjective_name: "" ×10 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×24 + 0.00sINFOobjective_server_nodecaller: ×24 + 0.00sINFOobjective_server_nodetype: 0 ×24 + 0.00sINFOobjective_server_nodename: "" ×24 + 0.00sINFOobjective_server_nodeinstance_id: "" ×24 + 0.00sINFOobjective_server_node ×52 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753767.97114658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.06131887 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×18 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×36 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×20 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×20 + 0.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×10 + 0.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×20 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"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: ""
+ 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×8 + 0.69sINFOobjective_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 + 0.69sINFOobjective_server_node<Control ID=\"Fallback\"> ×8 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"> ×16 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×4 + 0.69sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×8 + 0.69sINFOobjective_server_node</Control> ×16 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×8 + 0.69sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×8 + 0.69sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×4 + 0.69sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"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 + 0.69sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×4 + 0.73sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.65753222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753768.73773813 seconds ×3 + 0.81sINFOobjective_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 + 0.87sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753768.80001545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753768.87035871 seconds ×3 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056350 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_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=\"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: ""
+ 1.50sINFOobjective_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 + 1.54sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.40sINFOmove_groupClearing octomap...[0m ×4 + 2.40sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOvacuum_gripperReceived & accepted new action goal ×2 + 3.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 5.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 errors · 18 warnings · 540 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" />
<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" />
<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" />
<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" />
<Control ID=\"Fallback\">
<Control ID=\"Sequence\">
<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control>
<Control ID=\"Sequence\">
<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" />
<Action ID=\"AlwaysFailure\" />
</Control>
</Control>
<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" />
<Action ID=\"Script\" code=\"picked_box := true\" />
</Control></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×18 + 0.00sINFOobjective_server_nodeobjective_name: "" ×4 + 0.00sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"CreatePoseStamped\" reference_frame=\"world\" pose_stamped=\"{place_pose}\" orientation_xyzw=\"0;1.0;0;0\" position_xyz=\"-4.5;8.4;0.5\" /> ×2 + 0.00sINFOobjective_server_node ×32 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := 0\" /><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Action ID=\"TransformPose\" input_pose=\"{place_pose}\" output_pose=\"{placed_box_pose}\" translation_xyz=\"0;0;0.375\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AddCollisionMesh\" object_id=\"{placed_box_id}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" pose=\"{placed_box_pose}\" scale=\"1;1;1\" overwrite=\"true\" /> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Fallback\"> ×4 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"> ×8 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /></Control><Action ID=\"AlwaysSuccess\" /></Control> ×2 + 0.00sINFOobjective_server_node<Action ID=\"RemoveCollisionObject\" object_id=\"{placed_box_id}\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"AlwaysFailure\" /> ×4 + 0.00sINFOobjective_server_node</Control> ×8 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"placed_count := placed_count + 1\" /> ×4 + 0.00sINFOobjective_server_node<Action ID=\"Script\" code=\"picked_box := true\" /> ×4 + 0.00sINFOobjective_server_node</Control><Control ID=\"Sequence\"><Action ID=\"Script\" code=\"placed_box_id := 'placed_box_' .. placed_count\" /> ×2 + 0.00sINFOobjective_server_node<Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_hover_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysSuccess\" /></Control><Control ID=\"Sequence\"><Action ID=\"GetCurrentPlanningScene\" planning_scene_msg=\"{scene}\" /><Action ID=\"IsCollisionObjectInPlanningScene\" planning_scene=\"{scene}\" collision_object_name=\"{placed_box_id}\" /><Action ID=\"AddCollisionMesh\" object_id=\"drop_release_checked\" pose=\"{placed_box_pose}\" mesh_file_path=\"package://hangar_sim/objectives/box.stl\" scale=\"1;1;1\" overwrite=\"true\" /><Action ID=\"AlwaysFailure\" /></Control></Control> ×2 + 0.00sINFOobjective_server_node</Control></Control></BehaviorTree></root>" ×2 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×18 + 0.00sINFOobjective_server_nodecaller: ×18 + 0.00sINFOobjective_server_nodetype: 0 ×18 + 0.00sINFOobjective_server_nodename: "" ×18 + 0.00sINFOobjective_server_nodeinstance_id: "" ×18 + 0.04sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.47150040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Box Placement` did not succeed at time: 1793753769.58167791 seconds ×3 + 0.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: ""
objective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>"
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.17sINFOobjective_server_nodeobjective_xml_string: "<root BTCPP_format=\"4\" main_tree_to_execute=\"Box Placement\"><BehaviorTree ID=\"Box Placement\"><Control ID=\"Sequence\"><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_0\" /><Action ID=\"RemoveCollisionObject\" object_id=\"placed_box_1\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_hover_checked\" /><Action ID=\"RemoveCollisionObject\" object_id=\"drop_release_checked\" /></Control></BehaviorTree></root>" ×2 + 0.21sINFOobjective_server_nodeObjective `Box Placement` starting at time: 1793753769.63986325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOobjective_server_nodeObjective `Box Placement` succeeded at time: 1793753769.73002028 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×16 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743435 ms (missed cycles : 3).[0m ×2 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.90sINFOmove_groupClearing octomap...[0m ×4 + 0.90sINFOmove_groupOctomap cleared.[0m ×4 + 0.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1793753770.34034181 seconds ×3 + 1.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOvacuum_gripperReceived & accepted new action goal ×2 + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 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: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478998 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478998 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 400 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1793753770.32015681 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: 1793753770.34034181 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 0.61sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1793753770.93752432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOvacuum_gripperReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284847 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1793753770.99769497 seconds ×3 + 1.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1793753771.68809509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1793753771.74828553 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080541 ms (missed cycles : 4).[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: 1793753772.44202232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1793753772.46219277 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916734 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1793753773.06265664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1793753773.21326184 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1793753773.82831430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1793753773.90846992 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775459 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1793753774.50218296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642887 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719504 ms (missed cycles : 2).[0m ×2 | ||||